jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

geometry_msgs/Pose2D.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_geometry_msgs_Pose2D_h
jjzak 6:3c54bc7badd4 2 #define _ROS_geometry_msgs_Pose2D_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8
jjzak 6:3c54bc7badd4 9 namespace geometry_msgs
jjzak 6:3c54bc7badd4 10 {
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 class Pose2D : public ros::Msg
jjzak 6:3c54bc7badd4 13 {
jjzak 6:3c54bc7badd4 14 public:
jjzak 6:3c54bc7badd4 15 float x;
jjzak 6:3c54bc7badd4 16 float y;
jjzak 6:3c54bc7badd4 17 float theta;
jjzak 6:3c54bc7badd4 18
jjzak 6:3c54bc7badd4 19 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 20 {
jjzak 6:3c54bc7badd4 21 int offset = 0;
jjzak 6:3c54bc7badd4 22 int32_t * val_x = (int32_t *) &(this->x);
jjzak 6:3c54bc7badd4 23 int32_t exp_x = (((*val_x)>>23)&255);
jjzak 6:3c54bc7badd4 24 if(exp_x != 0)
jjzak 6:3c54bc7badd4 25 exp_x += 1023-127;
jjzak 6:3c54bc7badd4 26 int32_t sig_x = *val_x;
jjzak 6:3c54bc7badd4 27 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 28 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 29 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset++) = (sig_x<<5) & 0xff;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = (sig_x>>3) & 0xff;
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset++) = (sig_x>>11) & 0xff;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
jjzak 6:3c54bc7badd4 34 *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
jjzak 6:3c54bc7badd4 35 if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 36 int32_t * val_y = (int32_t *) &(this->y);
jjzak 6:3c54bc7badd4 37 int32_t exp_y = (((*val_y)>>23)&255);
jjzak 6:3c54bc7badd4 38 if(exp_y != 0)
jjzak 6:3c54bc7badd4 39 exp_y += 1023-127;
jjzak 6:3c54bc7badd4 40 int32_t sig_y = *val_y;
jjzak 6:3c54bc7badd4 41 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 42 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 43 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 44 *(outbuffer + offset++) = (sig_y<<5) & 0xff;
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset++) = (sig_y>>3) & 0xff;
jjzak 6:3c54bc7badd4 46 *(outbuffer + offset++) = (sig_y>>11) & 0xff;
jjzak 6:3c54bc7badd4 47 *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
jjzak 6:3c54bc7badd4 48 *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
jjzak 6:3c54bc7badd4 49 if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 50 int32_t * val_theta = (int32_t *) &(this->theta);
jjzak 6:3c54bc7badd4 51 int32_t exp_theta = (((*val_theta)>>23)&255);
jjzak 6:3c54bc7badd4 52 if(exp_theta != 0)
jjzak 6:3c54bc7badd4 53 exp_theta += 1023-127;
jjzak 6:3c54bc7badd4 54 int32_t sig_theta = *val_theta;
jjzak 6:3c54bc7badd4 55 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 56 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 57 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 58 *(outbuffer + offset++) = (sig_theta<<5) & 0xff;
jjzak 6:3c54bc7badd4 59 *(outbuffer + offset++) = (sig_theta>>3) & 0xff;
jjzak 6:3c54bc7badd4 60 *(outbuffer + offset++) = (sig_theta>>11) & 0xff;
jjzak 6:3c54bc7badd4 61 *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F);
jjzak 6:3c54bc7badd4 62 *(outbuffer + offset++) = (exp_theta>>4) & 0x7F;
jjzak 6:3c54bc7badd4 63 if(this->theta < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 64 return offset;
jjzak 6:3c54bc7badd4 65 }
jjzak 6:3c54bc7badd4 66
jjzak 6:3c54bc7badd4 67 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 68 {
jjzak 6:3c54bc7badd4 69 int offset = 0;
jjzak 6:3c54bc7badd4 70 uint32_t * val_x = (uint32_t*) &(this->x);
jjzak 6:3c54bc7badd4 71 offset += 3;
jjzak 6:3c54bc7badd4 72 *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 73 *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 74 *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 75 *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 76 uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 77 exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 78 if(exp_x !=0)
jjzak 6:3c54bc7badd4 79 *val_x |= ((exp_x)-1023+127)<<23;
jjzak 6:3c54bc7badd4 80 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
jjzak 6:3c54bc7badd4 81 uint32_t * val_y = (uint32_t*) &(this->y);
jjzak 6:3c54bc7badd4 82 offset += 3;
jjzak 6:3c54bc7badd4 83 *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 84 *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 85 *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 86 *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 87 uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 88 exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 89 if(exp_y !=0)
jjzak 6:3c54bc7badd4 90 *val_y |= ((exp_y)-1023+127)<<23;
jjzak 6:3c54bc7badd4 91 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
jjzak 6:3c54bc7badd4 92 uint32_t * val_theta = (uint32_t*) &(this->theta);
jjzak 6:3c54bc7badd4 93 offset += 3;
jjzak 6:3c54bc7badd4 94 *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 95 *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 96 *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 97 *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 98 uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 99 exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 100 if(exp_theta !=0)
jjzak 6:3c54bc7badd4 101 *val_theta |= ((exp_theta)-1023+127)<<23;
jjzak 6:3c54bc7badd4 102 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta;
jjzak 6:3c54bc7badd4 103 return offset;
jjzak 6:3c54bc7badd4 104 }
jjzak 6:3c54bc7badd4 105
jjzak 6:3c54bc7badd4 106 const char * getType(){ return "geometry_msgs/Pose2D"; };
jjzak 6:3c54bc7badd4 107 const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };
jjzak 6:3c54bc7badd4 108
jjzak 6:3c54bc7badd4 109 };
jjzak 6:3c54bc7badd4 110
jjzak 6:3c54bc7badd4 111 }
jjzak 6:3c54bc7badd4 112 #endif