ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
hero_msgs/hero_flipper_command.h@2:65cba0dcf634, 2022-01-27 (annotated)
- Committer:
- gosari
- Date:
- Thu Jan 27 11:36:16 2022 +0000
- Revision:
- 2:65cba0dcf634
for message communication with mbed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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gosari | 2:65cba0dcf634 | 1 | #ifndef _ROS_hero_msgs_hero_flipper_command_h |
gosari | 2:65cba0dcf634 | 2 | #define _ROS_hero_msgs_hero_flipper_command_h |
gosari | 2:65cba0dcf634 | 3 | |
gosari | 2:65cba0dcf634 | 4 | #include <stdint.h> |
gosari | 2:65cba0dcf634 | 5 | #include <string.h> |
gosari | 2:65cba0dcf634 | 6 | #include <stdlib.h> |
gosari | 2:65cba0dcf634 | 7 | #include "ros/msg.h" |
gosari | 2:65cba0dcf634 | 8 | |
gosari | 2:65cba0dcf634 | 9 | namespace hero_msgs |
gosari | 2:65cba0dcf634 | 10 | { |
gosari | 2:65cba0dcf634 | 11 | |
gosari | 2:65cba0dcf634 | 12 | class hero_flipper_command : public ros::Msg |
gosari | 2:65cba0dcf634 | 13 | { |
gosari | 2:65cba0dcf634 | 14 | public: |
gosari | 2:65cba0dcf634 | 15 | typedef uint8_t _RobotMode_type; |
gosari | 2:65cba0dcf634 | 16 | _RobotMode_type RobotMode; |
gosari | 2:65cba0dcf634 | 17 | typedef int16_t _SweepA_type; |
gosari | 2:65cba0dcf634 | 18 | _SweepA_type SweepA; |
gosari | 2:65cba0dcf634 | 19 | typedef int16_t _SweepB_type; |
gosari | 2:65cba0dcf634 | 20 | _SweepB_type SweepB; |
gosari | 2:65cba0dcf634 | 21 | typedef int16_t _WalkDelay_type; |
gosari | 2:65cba0dcf634 | 22 | _WalkDelay_type WalkDelay; |
gosari | 2:65cba0dcf634 | 23 | typedef int16_t _WalkWait_type; |
gosari | 2:65cba0dcf634 | 24 | _WalkWait_type WalkWait; |
gosari | 2:65cba0dcf634 | 25 | typedef uint8_t _StepCount_type; |
gosari | 2:65cba0dcf634 | 26 | _StepCount_type StepCount; |
gosari | 2:65cba0dcf634 | 27 | typedef int16_t _WalkHeading_type; |
gosari | 2:65cba0dcf634 | 28 | _WalkHeading_type WalkHeading; |
gosari | 2:65cba0dcf634 | 29 | typedef uint8_t _Amplitude_type; |
gosari | 2:65cba0dcf634 | 30 | _Amplitude_type Amplitude; |
gosari | 2:65cba0dcf634 | 31 | typedef float _Period_type; |
gosari | 2:65cba0dcf634 | 32 | _Period_type Period; |
gosari | 2:65cba0dcf634 | 33 | typedef uint8_t _iteration_type; |
gosari | 2:65cba0dcf634 | 34 | _iteration_type iteration; |
gosari | 2:65cba0dcf634 | 35 | typedef uint8_t _OffsetAngle_type; |
gosari | 2:65cba0dcf634 | 36 | _OffsetAngle_type OffsetAngle; |
gosari | 2:65cba0dcf634 | 37 | typedef uint8_t _LegSwingPart_type; |
gosari | 2:65cba0dcf634 | 38 | _LegSwingPart_type LegSwingPart; |
gosari | 2:65cba0dcf634 | 39 | typedef uint16_t _LegSwingDelay_type; |
gosari | 2:65cba0dcf634 | 40 | _LegSwingDelay_type LegSwingDelay; |
gosari | 2:65cba0dcf634 | 41 | |
gosari | 2:65cba0dcf634 | 42 | hero_flipper_command(): |
gosari | 2:65cba0dcf634 | 43 | RobotMode(0), |
gosari | 2:65cba0dcf634 | 44 | SweepA(0), |
gosari | 2:65cba0dcf634 | 45 | SweepB(0), |
gosari | 2:65cba0dcf634 | 46 | WalkDelay(0), |
gosari | 2:65cba0dcf634 | 47 | WalkWait(0), |
gosari | 2:65cba0dcf634 | 48 | StepCount(0), |
gosari | 2:65cba0dcf634 | 49 | WalkHeading(0), |
gosari | 2:65cba0dcf634 | 50 | Amplitude(0), |
gosari | 2:65cba0dcf634 | 51 | Period(0), |
gosari | 2:65cba0dcf634 | 52 | iteration(0), |
gosari | 2:65cba0dcf634 | 53 | OffsetAngle(0), |
gosari | 2:65cba0dcf634 | 54 | LegSwingPart(0), |
gosari | 2:65cba0dcf634 | 55 | LegSwingDelay(0) |
gosari | 2:65cba0dcf634 | 56 | { |
gosari | 2:65cba0dcf634 | 57 | } |
gosari | 2:65cba0dcf634 | 58 | |
gosari | 2:65cba0dcf634 | 59 | virtual int serialize(unsigned char *outbuffer) const |
gosari | 2:65cba0dcf634 | 60 | { |
gosari | 2:65cba0dcf634 | 61 | int offset = 0; |
gosari | 2:65cba0dcf634 | 62 | *(outbuffer + offset + 0) = (this->RobotMode >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 63 | offset += sizeof(this->RobotMode); |
gosari | 2:65cba0dcf634 | 64 | union { |
gosari | 2:65cba0dcf634 | 65 | int16_t real; |
gosari | 2:65cba0dcf634 | 66 | uint16_t base; |
gosari | 2:65cba0dcf634 | 67 | } u_SweepA; |
gosari | 2:65cba0dcf634 | 68 | u_SweepA.real = this->SweepA; |
gosari | 2:65cba0dcf634 | 69 | *(outbuffer + offset + 0) = (u_SweepA.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 70 | *(outbuffer + offset + 1) = (u_SweepA.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 71 | offset += sizeof(this->SweepA); |
gosari | 2:65cba0dcf634 | 72 | union { |
gosari | 2:65cba0dcf634 | 73 | int16_t real; |
gosari | 2:65cba0dcf634 | 74 | uint16_t base; |
gosari | 2:65cba0dcf634 | 75 | } u_SweepB; |
gosari | 2:65cba0dcf634 | 76 | u_SweepB.real = this->SweepB; |
gosari | 2:65cba0dcf634 | 77 | *(outbuffer + offset + 0) = (u_SweepB.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 78 | *(outbuffer + offset + 1) = (u_SweepB.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 79 | offset += sizeof(this->SweepB); |
gosari | 2:65cba0dcf634 | 80 | union { |
gosari | 2:65cba0dcf634 | 81 | int16_t real; |
gosari | 2:65cba0dcf634 | 82 | uint16_t base; |
gosari | 2:65cba0dcf634 | 83 | } u_WalkDelay; |
gosari | 2:65cba0dcf634 | 84 | u_WalkDelay.real = this->WalkDelay; |
gosari | 2:65cba0dcf634 | 85 | *(outbuffer + offset + 0) = (u_WalkDelay.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 86 | *(outbuffer + offset + 1) = (u_WalkDelay.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 87 | offset += sizeof(this->WalkDelay); |
gosari | 2:65cba0dcf634 | 88 | union { |
gosari | 2:65cba0dcf634 | 89 | int16_t real; |
gosari | 2:65cba0dcf634 | 90 | uint16_t base; |
gosari | 2:65cba0dcf634 | 91 | } u_WalkWait; |
gosari | 2:65cba0dcf634 | 92 | u_WalkWait.real = this->WalkWait; |
gosari | 2:65cba0dcf634 | 93 | *(outbuffer + offset + 0) = (u_WalkWait.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 94 | *(outbuffer + offset + 1) = (u_WalkWait.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 95 | offset += sizeof(this->WalkWait); |
gosari | 2:65cba0dcf634 | 96 | *(outbuffer + offset + 0) = (this->StepCount >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 97 | offset += sizeof(this->StepCount); |
gosari | 2:65cba0dcf634 | 98 | union { |
gosari | 2:65cba0dcf634 | 99 | int16_t real; |
gosari | 2:65cba0dcf634 | 100 | uint16_t base; |
gosari | 2:65cba0dcf634 | 101 | } u_WalkHeading; |
gosari | 2:65cba0dcf634 | 102 | u_WalkHeading.real = this->WalkHeading; |
gosari | 2:65cba0dcf634 | 103 | *(outbuffer + offset + 0) = (u_WalkHeading.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 104 | *(outbuffer + offset + 1) = (u_WalkHeading.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 105 | offset += sizeof(this->WalkHeading); |
gosari | 2:65cba0dcf634 | 106 | *(outbuffer + offset + 0) = (this->Amplitude >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 107 | offset += sizeof(this->Amplitude); |
gosari | 2:65cba0dcf634 | 108 | union { |
gosari | 2:65cba0dcf634 | 109 | float real; |
gosari | 2:65cba0dcf634 | 110 | uint32_t base; |
gosari | 2:65cba0dcf634 | 111 | } u_Period; |
gosari | 2:65cba0dcf634 | 112 | u_Period.real = this->Period; |
gosari | 2:65cba0dcf634 | 113 | *(outbuffer + offset + 0) = (u_Period.base >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 114 | *(outbuffer + offset + 1) = (u_Period.base >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 115 | *(outbuffer + offset + 2) = (u_Period.base >> (8 * 2)) & 0xFF; |
gosari | 2:65cba0dcf634 | 116 | *(outbuffer + offset + 3) = (u_Period.base >> (8 * 3)) & 0xFF; |
gosari | 2:65cba0dcf634 | 117 | offset += sizeof(this->Period); |
gosari | 2:65cba0dcf634 | 118 | *(outbuffer + offset + 0) = (this->iteration >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 119 | offset += sizeof(this->iteration); |
gosari | 2:65cba0dcf634 | 120 | *(outbuffer + offset + 0) = (this->OffsetAngle >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 121 | offset += sizeof(this->OffsetAngle); |
gosari | 2:65cba0dcf634 | 122 | *(outbuffer + offset + 0) = (this->LegSwingPart >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 123 | offset += sizeof(this->LegSwingPart); |
gosari | 2:65cba0dcf634 | 124 | *(outbuffer + offset + 0) = (this->LegSwingDelay >> (8 * 0)) & 0xFF; |
gosari | 2:65cba0dcf634 | 125 | *(outbuffer + offset + 1) = (this->LegSwingDelay >> (8 * 1)) & 0xFF; |
gosari | 2:65cba0dcf634 | 126 | offset += sizeof(this->LegSwingDelay); |
gosari | 2:65cba0dcf634 | 127 | return offset; |
gosari | 2:65cba0dcf634 | 128 | } |
gosari | 2:65cba0dcf634 | 129 | |
gosari | 2:65cba0dcf634 | 130 | virtual int deserialize(unsigned char *inbuffer) |
gosari | 2:65cba0dcf634 | 131 | { |
gosari | 2:65cba0dcf634 | 132 | int offset = 0; |
gosari | 2:65cba0dcf634 | 133 | this->RobotMode = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 134 | offset += sizeof(this->RobotMode); |
gosari | 2:65cba0dcf634 | 135 | union { |
gosari | 2:65cba0dcf634 | 136 | int16_t real; |
gosari | 2:65cba0dcf634 | 137 | uint16_t base; |
gosari | 2:65cba0dcf634 | 138 | } u_SweepA; |
gosari | 2:65cba0dcf634 | 139 | u_SweepA.base = 0; |
gosari | 2:65cba0dcf634 | 140 | u_SweepA.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 141 | u_SweepA.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 142 | this->SweepA = u_SweepA.real; |
gosari | 2:65cba0dcf634 | 143 | offset += sizeof(this->SweepA); |
gosari | 2:65cba0dcf634 | 144 | union { |
gosari | 2:65cba0dcf634 | 145 | int16_t real; |
gosari | 2:65cba0dcf634 | 146 | uint16_t base; |
gosari | 2:65cba0dcf634 | 147 | } u_SweepB; |
gosari | 2:65cba0dcf634 | 148 | u_SweepB.base = 0; |
gosari | 2:65cba0dcf634 | 149 | u_SweepB.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 150 | u_SweepB.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 151 | this->SweepB = u_SweepB.real; |
gosari | 2:65cba0dcf634 | 152 | offset += sizeof(this->SweepB); |
gosari | 2:65cba0dcf634 | 153 | union { |
gosari | 2:65cba0dcf634 | 154 | int16_t real; |
gosari | 2:65cba0dcf634 | 155 | uint16_t base; |
gosari | 2:65cba0dcf634 | 156 | } u_WalkDelay; |
gosari | 2:65cba0dcf634 | 157 | u_WalkDelay.base = 0; |
gosari | 2:65cba0dcf634 | 158 | u_WalkDelay.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 159 | u_WalkDelay.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 160 | this->WalkDelay = u_WalkDelay.real; |
gosari | 2:65cba0dcf634 | 161 | offset += sizeof(this->WalkDelay); |
gosari | 2:65cba0dcf634 | 162 | union { |
gosari | 2:65cba0dcf634 | 163 | int16_t real; |
gosari | 2:65cba0dcf634 | 164 | uint16_t base; |
gosari | 2:65cba0dcf634 | 165 | } u_WalkWait; |
gosari | 2:65cba0dcf634 | 166 | u_WalkWait.base = 0; |
gosari | 2:65cba0dcf634 | 167 | u_WalkWait.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 168 | u_WalkWait.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 169 | this->WalkWait = u_WalkWait.real; |
gosari | 2:65cba0dcf634 | 170 | offset += sizeof(this->WalkWait); |
gosari | 2:65cba0dcf634 | 171 | this->StepCount = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 172 | offset += sizeof(this->StepCount); |
gosari | 2:65cba0dcf634 | 173 | union { |
gosari | 2:65cba0dcf634 | 174 | int16_t real; |
gosari | 2:65cba0dcf634 | 175 | uint16_t base; |
gosari | 2:65cba0dcf634 | 176 | } u_WalkHeading; |
gosari | 2:65cba0dcf634 | 177 | u_WalkHeading.base = 0; |
gosari | 2:65cba0dcf634 | 178 | u_WalkHeading.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 179 | u_WalkHeading.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 180 | this->WalkHeading = u_WalkHeading.real; |
gosari | 2:65cba0dcf634 | 181 | offset += sizeof(this->WalkHeading); |
gosari | 2:65cba0dcf634 | 182 | this->Amplitude = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 183 | offset += sizeof(this->Amplitude); |
gosari | 2:65cba0dcf634 | 184 | union { |
gosari | 2:65cba0dcf634 | 185 | float real; |
gosari | 2:65cba0dcf634 | 186 | uint32_t base; |
gosari | 2:65cba0dcf634 | 187 | } u_Period; |
gosari | 2:65cba0dcf634 | 188 | u_Period.base = 0; |
gosari | 2:65cba0dcf634 | 189 | u_Period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
gosari | 2:65cba0dcf634 | 190 | u_Period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 191 | u_Period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
gosari | 2:65cba0dcf634 | 192 | u_Period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
gosari | 2:65cba0dcf634 | 193 | this->Period = u_Period.real; |
gosari | 2:65cba0dcf634 | 194 | offset += sizeof(this->Period); |
gosari | 2:65cba0dcf634 | 195 | this->iteration = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 196 | offset += sizeof(this->iteration); |
gosari | 2:65cba0dcf634 | 197 | this->OffsetAngle = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 198 | offset += sizeof(this->OffsetAngle); |
gosari | 2:65cba0dcf634 | 199 | this->LegSwingPart = ((uint8_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 200 | offset += sizeof(this->LegSwingPart); |
gosari | 2:65cba0dcf634 | 201 | this->LegSwingDelay = ((uint16_t) (*(inbuffer + offset))); |
gosari | 2:65cba0dcf634 | 202 | this->LegSwingDelay |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
gosari | 2:65cba0dcf634 | 203 | offset += sizeof(this->LegSwingDelay); |
gosari | 2:65cba0dcf634 | 204 | return offset; |
gosari | 2:65cba0dcf634 | 205 | } |
gosari | 2:65cba0dcf634 | 206 | |
gosari | 2:65cba0dcf634 | 207 | const char * getType(){ return "hero_msgs/hero_flipper_command"; }; |
gosari | 2:65cba0dcf634 | 208 | const char * getMD5(){ return "5fbfca8fff5085fed6726f12aa490760"; }; |
gosari | 2:65cba0dcf634 | 209 | |
gosari | 2:65cba0dcf634 | 210 | }; |
gosari | 2:65cba0dcf634 | 211 | |
gosari | 2:65cba0dcf634 | 212 | } |
gosari | 2:65cba0dcf634 | 213 | #endif |