rosserial for Hydro
Fork of rosserial_mbed_lib by
Diff: sensor_msgs/NavSatFix.h
- Revision:
- 3:1cf99502f396
- Parent:
- 0:77afd7560544
diff -r bb6bb835fde4 -r 1cf99502f396 sensor_msgs/NavSatFix.h --- a/sensor_msgs/NavSatFix.h Sun Oct 16 09:35:11 2011 +0000 +++ b/sensor_msgs/NavSatFix.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_NavSatFix_h -#define ros_NavSatFix_h +#ifndef _ROS_sensor_msgs_NavSatFix_h +#define _ROS_sensor_msgs_NavSatFix_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/NavSatStatus.h" @@ -20,22 +20,22 @@ float longitude; float altitude; float position_covariance[9]; - unsigned char position_covariance_type; - enum { COVARIANCE_TYPE_UNKNOWN = 0 }; - enum { COVARIANCE_TYPE_APPROXIMATED = 1 }; - enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 }; - enum { COVARIANCE_TYPE_KNOWN = 3 }; + uint8_t position_covariance_type; + enum { COVARIANCE_TYPE_UNKNOWN = 0 }; + enum { COVARIANCE_TYPE_APPROXIMATED = 1 }; + enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 }; + enum { COVARIANCE_TYPE_KNOWN = 3 }; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->status.serialize(outbuffer + offset); - long * val_latitude = (long *) &(this->latitude); - long exp_latitude = (((*val_latitude)>>23)&255); + int32_t * val_latitude = (long *) &(this->latitude); + int32_t exp_latitude = (((*val_latitude)>>23)&255); if(exp_latitude != 0) exp_latitude += 1023-127; - long sig_latitude = *val_latitude; + int32_t sig_latitude = *val_latitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -45,11 +45,11 @@ *(outbuffer + offset++) = ((exp_latitude<<4) & 0xF0) | ((sig_latitude>>19)&0x0F); *(outbuffer + offset++) = (exp_latitude>>4) & 0x7F; if(this->latitude < 0) *(outbuffer + offset -1) |= 0x80; - long * val_longitude = (long *) &(this->longitude); - long exp_longitude = (((*val_longitude)>>23)&255); + int32_t * val_longitude = (long *) &(this->longitude); + int32_t exp_longitude = (((*val_longitude)>>23)&255); if(exp_longitude != 0) exp_longitude += 1023-127; - long sig_longitude = *val_longitude; + int32_t sig_longitude = *val_longitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -59,11 +59,11 @@ *(outbuffer + offset++) = ((exp_longitude<<4) & 0xF0) | ((sig_longitude>>19)&0x0F); *(outbuffer + offset++) = (exp_longitude>>4) & 0x7F; if(this->longitude < 0) *(outbuffer + offset -1) |= 0x80; - long * val_altitude = (long *) &(this->altitude); - long exp_altitude = (((*val_altitude)>>23)&255); + int32_t * val_altitude = (long *) &(this->altitude); + int32_t exp_altitude = (((*val_altitude)>>23)&255); if(exp_altitude != 0) exp_altitude += 1023-127; - long sig_altitude = *val_altitude; + int32_t sig_altitude = *val_altitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -74,12 +74,12 @@ *(outbuffer + offset++) = (exp_altitude>>4) & 0x7F; if(this->altitude < 0) *(outbuffer + offset -1) |= 0x80; unsigned char * position_covariance_val = (unsigned char *) this->position_covariance; - for( unsigned char i = 0; i < 9; i++){ - long * val_position_covariancei = (long *) &(this->position_covariance[i]); - long exp_position_covariancei = (((*val_position_covariancei)>>23)&255); + for( uint8_t i = 0; i < 9; i++){ + int32_t * val_position_covariancei = (long *) &(this->position_covariance[i]); + int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255); if(exp_position_covariancei != 0) exp_position_covariancei += 1023-127; - long sig_position_covariancei = *val_position_covariancei; + int32_t sig_position_covariancei = *val_position_covariancei; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -90,12 +90,7 @@ *(outbuffer + offset++) = (exp_position_covariancei>>4) & 0x7F; if(this->position_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; } - union { - unsigned char real; - unsigned char base; - } u_position_covariance_type; - u_position_covariance_type.real = this->position_covariance_type; - *(outbuffer + offset + 0) = (u_position_covariance_type.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF; offset += sizeof(this->position_covariance_type); return offset; } @@ -105,65 +100,60 @@ int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->status.deserialize(inbuffer + offset); - unsigned long * val_latitude = (unsigned long*) &(this->latitude); + uint32_t * val_latitude = (uint32_t*) &(this->latitude); offset += 3; - *val_latitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_latitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_latitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_latitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_latitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_latitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_latitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_latitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_latitude !=0) *val_latitude |= ((exp_latitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->latitude = -this->latitude; - unsigned long * val_longitude = (unsigned long*) &(this->longitude); + uint32_t * val_longitude = (uint32_t*) &(this->longitude); offset += 3; - *val_longitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_longitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_longitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_longitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_longitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_longitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_longitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_longitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_longitude !=0) *val_longitude |= ((exp_longitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->longitude = -this->longitude; - unsigned long * val_altitude = (unsigned long*) &(this->altitude); + uint32_t * val_altitude = (uint32_t*) &(this->altitude); offset += 3; - *val_altitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_altitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_altitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_altitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_altitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_altitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_altitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_altitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_altitude !=0) *val_altitude |= ((exp_altitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->altitude = -this->altitude; - unsigned char * position_covariance_val = (unsigned char *) this->position_covariance; - for( unsigned char i = 0; i < 9; i++){ - unsigned long * val_position_covariancei = (unsigned long*) &(this->position_covariance[i]); + uint8_t * position_covariance_val = (uint8_t*) this->position_covariance; + for( uint8_t i = 0; i < 9; i++){ + uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]); offset += 3; - *val_position_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_position_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_position_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_position_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_position_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_position_covariancei !=0) *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position_covariance[i] = -this->position_covariance[i]; } - union { - unsigned char real; - unsigned char base; - } u_position_covariance_type; - u_position_covariance_type.base = 0; - u_position_covariance_type.base |= ((typeof(u_position_covariance_type.base)) (*(inbuffer + offset + 0))) << (8 * 0); - this->position_covariance_type = u_position_covariance_type.real; + this->position_covariance_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->position_covariance_type); return offset; } - virtual const char * getType(){ return "sensor_msgs/NavSatFix"; }; + virtual const char * getType(){ return "sensor_msgs/NavSatFix"; }; + virtual const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; }; };