Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

ur_msgs/SetIO.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_SERVICE_SetIO_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SetIO_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7
akashvibhute 0:30537dec6e0b 8 namespace ur_msgs
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char SETIO[] = "ur_msgs/SetIO";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class SetIORequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 int8_t fun;
akashvibhute 0:30537dec6e0b 17 int8_t pin;
akashvibhute 0:30537dec6e0b 18 float state;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 SetIORequest():
akashvibhute 0:30537dec6e0b 21 fun(0),
akashvibhute 0:30537dec6e0b 22 pin(0),
akashvibhute 0:30537dec6e0b 23 state(0)
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 }
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 int offset = 0;
akashvibhute 0:30537dec6e0b 30 union {
akashvibhute 0:30537dec6e0b 31 int8_t real;
akashvibhute 0:30537dec6e0b 32 uint8_t base;
akashvibhute 0:30537dec6e0b 33 } u_fun;
akashvibhute 0:30537dec6e0b 34 u_fun.real = this->fun;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 0) = (u_fun.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 offset += sizeof(this->fun);
akashvibhute 0:30537dec6e0b 37 union {
akashvibhute 0:30537dec6e0b 38 int8_t real;
akashvibhute 0:30537dec6e0b 39 uint8_t base;
akashvibhute 0:30537dec6e0b 40 } u_pin;
akashvibhute 0:30537dec6e0b 41 u_pin.real = this->pin;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 0) = (u_pin.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 offset += sizeof(this->pin);
akashvibhute 0:30537dec6e0b 44 union {
akashvibhute 0:30537dec6e0b 45 float real;
akashvibhute 0:30537dec6e0b 46 uint32_t base;
akashvibhute 0:30537dec6e0b 47 } u_state;
akashvibhute 0:30537dec6e0b 48 u_state.real = this->state;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 0) = (u_state.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 1) = (u_state.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset + 2) = (u_state.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 3) = (u_state.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 offset += sizeof(this->state);
akashvibhute 0:30537dec6e0b 54 return offset;
akashvibhute 0:30537dec6e0b 55 }
akashvibhute 0:30537dec6e0b 56
akashvibhute 0:30537dec6e0b 57 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 58 {
akashvibhute 0:30537dec6e0b 59 int offset = 0;
akashvibhute 0:30537dec6e0b 60 union {
akashvibhute 0:30537dec6e0b 61 int8_t real;
akashvibhute 0:30537dec6e0b 62 uint8_t base;
akashvibhute 0:30537dec6e0b 63 } u_fun;
akashvibhute 0:30537dec6e0b 64 u_fun.base = 0;
akashvibhute 0:30537dec6e0b 65 u_fun.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 66 this->fun = u_fun.real;
akashvibhute 0:30537dec6e0b 67 offset += sizeof(this->fun);
akashvibhute 0:30537dec6e0b 68 union {
akashvibhute 0:30537dec6e0b 69 int8_t real;
akashvibhute 0:30537dec6e0b 70 uint8_t base;
akashvibhute 0:30537dec6e0b 71 } u_pin;
akashvibhute 0:30537dec6e0b 72 u_pin.base = 0;
akashvibhute 0:30537dec6e0b 73 u_pin.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 74 this->pin = u_pin.real;
akashvibhute 0:30537dec6e0b 75 offset += sizeof(this->pin);
akashvibhute 0:30537dec6e0b 76 union {
akashvibhute 0:30537dec6e0b 77 float real;
akashvibhute 0:30537dec6e0b 78 uint32_t base;
akashvibhute 0:30537dec6e0b 79 } u_state;
akashvibhute 0:30537dec6e0b 80 u_state.base = 0;
akashvibhute 0:30537dec6e0b 81 u_state.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 82 u_state.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 83 u_state.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 84 u_state.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 85 this->state = u_state.real;
akashvibhute 0:30537dec6e0b 86 offset += sizeof(this->state);
akashvibhute 0:30537dec6e0b 87 return offset;
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89
akashvibhute 0:30537dec6e0b 90 const char * getType(){ return SETIO; };
akashvibhute 0:30537dec6e0b 91 const char * getMD5(){ return "cbb7d56b1142033251cb8df226edd774"; };
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 };
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 class SetIOResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 96 {
akashvibhute 0:30537dec6e0b 97 public:
akashvibhute 0:30537dec6e0b 98 bool success;
akashvibhute 0:30537dec6e0b 99
akashvibhute 0:30537dec6e0b 100 SetIOResponse():
akashvibhute 0:30537dec6e0b 101 success(0)
akashvibhute 0:30537dec6e0b 102 {
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104
akashvibhute 0:30537dec6e0b 105 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 106 {
akashvibhute 0:30537dec6e0b 107 int offset = 0;
akashvibhute 0:30537dec6e0b 108 union {
akashvibhute 0:30537dec6e0b 109 bool real;
akashvibhute 0:30537dec6e0b 110 uint8_t base;
akashvibhute 0:30537dec6e0b 111 } u_success;
akashvibhute 0:30537dec6e0b 112 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 113 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 114 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 115 return offset;
akashvibhute 0:30537dec6e0b 116 }
akashvibhute 0:30537dec6e0b 117
akashvibhute 0:30537dec6e0b 118 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 119 {
akashvibhute 0:30537dec6e0b 120 int offset = 0;
akashvibhute 0:30537dec6e0b 121 union {
akashvibhute 0:30537dec6e0b 122 bool real;
akashvibhute 0:30537dec6e0b 123 uint8_t base;
akashvibhute 0:30537dec6e0b 124 } u_success;
akashvibhute 0:30537dec6e0b 125 u_success.base = 0;
akashvibhute 0:30537dec6e0b 126 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 127 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 128 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 const char * getType(){ return SETIO; };
akashvibhute 0:30537dec6e0b 133 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
akashvibhute 0:30537dec6e0b 134
akashvibhute 0:30537dec6e0b 135 };
akashvibhute 0:30537dec6e0b 136
akashvibhute 0:30537dec6e0b 137 class SetIO {
akashvibhute 0:30537dec6e0b 138 public:
akashvibhute 0:30537dec6e0b 139 typedef SetIORequest Request;
akashvibhute 0:30537dec6e0b 140 typedef SetIOResponse Response;
akashvibhute 0:30537dec6e0b 141 };
akashvibhute 0:30537dec6e0b 142
akashvibhute 0:30537dec6e0b 143 }
akashvibhute 0:30537dec6e0b 144 #endif
akashvibhute 0:30537dec6e0b 145