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sensor_msgs/JointState.h
- Committer:
- garyservin
- Date:
- 2014-05-01
- Revision:
- 5:19c5437ed9fe
- Parent:
- 3:1cf99502f396
File content as of revision 5:19c5437ed9fe:
#ifndef _ROS_sensor_msgs_JointState_h #define _ROS_sensor_msgs_JointState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class JointState : public ros::Msg { public: std_msgs::Header header; uint8_t name_length; char* st_name; char* * name; uint8_t position_length; float st_position; float * position; uint8_t velocity_length; float st_velocity; float * velocity; uint8_t effort_length; float st_effort; float * effort; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset++) = name_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < name_length; i++){ uint32_t * length_namei = (uint32_t *)(outbuffer + offset); *length_namei = strlen( (const char*) this->name[i]); offset += 4; memcpy(outbuffer + offset, this->name[i], *length_namei); offset += *length_namei; } *(outbuffer + offset++) = position_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < position_length; i++){ int32_t * val_positioni = (long *) &(this->position[i]); int32_t exp_positioni = (((*val_positioni)>>23)&255); if(exp_positioni != 0) exp_positioni += 1023-127; int32_t sig_positioni = *val_positioni; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_positioni<<5) & 0xff; *(outbuffer + offset++) = (sig_positioni>>3) & 0xff; *(outbuffer + offset++) = (sig_positioni>>11) & 0xff; *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F); *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F; if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80; } *(outbuffer + offset++) = velocity_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < velocity_length; i++){ int32_t * val_velocityi = (long *) &(this->velocity[i]); int32_t exp_velocityi = (((*val_velocityi)>>23)&255); if(exp_velocityi != 0) exp_velocityi += 1023-127; int32_t sig_velocityi = *val_velocityi; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff; *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff; *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff; *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F); *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F; if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80; } *(outbuffer + offset++) = effort_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < effort_length; i++){ int32_t * val_efforti = (long *) &(this->effort[i]); int32_t exp_efforti = (((*val_efforti)>>23)&255); if(exp_efforti != 0) exp_efforti += 1023-127; int32_t sig_efforti = *val_efforti; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_efforti<<5) & 0xff; *(outbuffer + offset++) = (sig_efforti>>3) & 0xff; *(outbuffer + offset++) = (sig_efforti>>11) & 0xff; *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F); *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F; if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint8_t name_lengthT = *(inbuffer + offset++); if(name_lengthT > name_length) this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); offset += 3; name_length = name_lengthT; for( uint8_t i = 0; i < name_length; i++){ uint32_t length_st_name = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_st_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_name-1]=0; this->st_name = (char *)(inbuffer + offset-1); offset += length_st_name; memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); } uint8_t position_lengthT = *(inbuffer + offset++); if(position_lengthT > position_length) this->position = (float*)realloc(this->position, position_lengthT * sizeof(float)); offset += 3; position_length = position_lengthT; for( uint8_t i = 0; i < position_length; i++){ uint32_t * val_st_position = (uint32_t*) &(this->st_position); offset += 3; *val_st_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_st_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_st_position !=0) *val_st_position |= ((exp_st_position)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position; memcpy( &(this->position[i]), &(this->st_position), sizeof(float)); } uint8_t velocity_lengthT = *(inbuffer + offset++); if(velocity_lengthT > velocity_length) this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float)); offset += 3; velocity_length = velocity_lengthT; for( uint8_t i = 0; i < velocity_length; i++){ uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity); offset += 3; *val_st_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_st_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_st_velocity !=0) *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity; memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float)); } uint8_t effort_lengthT = *(inbuffer + offset++); if(effort_lengthT > effort_length) this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float)); offset += 3; effort_length = effort_lengthT; for( uint8_t i = 0; i < effort_length; i++){ uint32_t * val_st_effort = (uint32_t*) &(this->st_effort); offset += 3; *val_st_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_st_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_st_effort !=0) *val_st_effort |= ((exp_st_effort)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort; memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float)); } return offset; } virtual const char * getType(){ return "sensor_msgs/JointState"; }; virtual const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; }; }; } #endif