modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/Illuminance.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
- Parent:
- 5:8cd48977ec68
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 5:8cd48977ec68 | 1 | #ifndef _ROS_sensor_msgs_Illuminance_h |
jjzak | 5:8cd48977ec68 | 2 | #define _ROS_sensor_msgs_Illuminance_h |
jjzak | 5:8cd48977ec68 | 3 | |
jjzak | 5:8cd48977ec68 | 4 | #include <stdint.h> |
jjzak | 5:8cd48977ec68 | 5 | #include <string.h> |
jjzak | 5:8cd48977ec68 | 6 | #include <stdlib.h> |
jjzak | 5:8cd48977ec68 | 7 | #include "ros/msg.h" |
jjzak | 5:8cd48977ec68 | 8 | #include "std_msgs/Header.h" |
jjzak | 5:8cd48977ec68 | 9 | |
jjzak | 5:8cd48977ec68 | 10 | namespace sensor_msgs |
jjzak | 5:8cd48977ec68 | 11 | { |
jjzak | 5:8cd48977ec68 | 12 | |
jjzak | 5:8cd48977ec68 | 13 | class Illuminance : public ros::Msg |
jjzak | 5:8cd48977ec68 | 14 | { |
jjzak | 5:8cd48977ec68 | 15 | public: |
jjzak | 5:8cd48977ec68 | 16 | std_msgs::Header header; |
jjzak | 5:8cd48977ec68 | 17 | float illuminance; |
jjzak | 5:8cd48977ec68 | 18 | float variance; |
jjzak | 5:8cd48977ec68 | 19 | |
jjzak | 5:8cd48977ec68 | 20 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 5:8cd48977ec68 | 21 | { |
jjzak | 5:8cd48977ec68 | 22 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 23 | offset += this->header.serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 24 | int32_t * val_illuminance = (int32_t *) &(this->illuminance); |
jjzak | 5:8cd48977ec68 | 25 | int32_t exp_illuminance = (((*val_illuminance)>>23)&255); |
jjzak | 5:8cd48977ec68 | 26 | if(exp_illuminance != 0) |
jjzak | 5:8cd48977ec68 | 27 | exp_illuminance += 1023-127; |
jjzak | 5:8cd48977ec68 | 28 | int32_t sig_illuminance = *val_illuminance; |
jjzak | 5:8cd48977ec68 | 29 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 30 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 31 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 32 | *(outbuffer + offset++) = (sig_illuminance<<5) & 0xff; |
jjzak | 5:8cd48977ec68 | 33 | *(outbuffer + offset++) = (sig_illuminance>>3) & 0xff; |
jjzak | 5:8cd48977ec68 | 34 | *(outbuffer + offset++) = (sig_illuminance>>11) & 0xff; |
jjzak | 5:8cd48977ec68 | 35 | *(outbuffer + offset++) = ((exp_illuminance<<4) & 0xF0) | ((sig_illuminance>>19)&0x0F); |
jjzak | 5:8cd48977ec68 | 36 | *(outbuffer + offset++) = (exp_illuminance>>4) & 0x7F; |
jjzak | 5:8cd48977ec68 | 37 | if(this->illuminance < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 5:8cd48977ec68 | 38 | int32_t * val_variance = (int32_t *) &(this->variance); |
jjzak | 5:8cd48977ec68 | 39 | int32_t exp_variance = (((*val_variance)>>23)&255); |
jjzak | 5:8cd48977ec68 | 40 | if(exp_variance != 0) |
jjzak | 5:8cd48977ec68 | 41 | exp_variance += 1023-127; |
jjzak | 5:8cd48977ec68 | 42 | int32_t sig_variance = *val_variance; |
jjzak | 5:8cd48977ec68 | 43 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 44 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 45 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 46 | *(outbuffer + offset++) = (sig_variance<<5) & 0xff; |
jjzak | 5:8cd48977ec68 | 47 | *(outbuffer + offset++) = (sig_variance>>3) & 0xff; |
jjzak | 5:8cd48977ec68 | 48 | *(outbuffer + offset++) = (sig_variance>>11) & 0xff; |
jjzak | 5:8cd48977ec68 | 49 | *(outbuffer + offset++) = ((exp_variance<<4) & 0xF0) | ((sig_variance>>19)&0x0F); |
jjzak | 5:8cd48977ec68 | 50 | *(outbuffer + offset++) = (exp_variance>>4) & 0x7F; |
jjzak | 5:8cd48977ec68 | 51 | if(this->variance < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 5:8cd48977ec68 | 52 | return offset; |
jjzak | 5:8cd48977ec68 | 53 | } |
jjzak | 5:8cd48977ec68 | 54 | |
jjzak | 5:8cd48977ec68 | 55 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 5:8cd48977ec68 | 56 | { |
jjzak | 5:8cd48977ec68 | 57 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 58 | offset += this->header.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 59 | uint32_t * val_illuminance = (uint32_t*) &(this->illuminance); |
jjzak | 5:8cd48977ec68 | 60 | offset += 3; |
jjzak | 5:8cd48977ec68 | 61 | *val_illuminance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 5:8cd48977ec68 | 62 | *val_illuminance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 5:8cd48977ec68 | 63 | *val_illuminance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 5:8cd48977ec68 | 64 | *val_illuminance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 5:8cd48977ec68 | 65 | uint32_t exp_illuminance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 5:8cd48977ec68 | 66 | exp_illuminance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 5:8cd48977ec68 | 67 | if(exp_illuminance !=0) |
jjzak | 5:8cd48977ec68 | 68 | *val_illuminance |= ((exp_illuminance)-1023+127)<<23; |
jjzak | 5:8cd48977ec68 | 69 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->illuminance = -this->illuminance; |
jjzak | 5:8cd48977ec68 | 70 | uint32_t * val_variance = (uint32_t*) &(this->variance); |
jjzak | 5:8cd48977ec68 | 71 | offset += 3; |
jjzak | 5:8cd48977ec68 | 72 | *val_variance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 5:8cd48977ec68 | 73 | *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 5:8cd48977ec68 | 74 | *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 5:8cd48977ec68 | 75 | *val_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 5:8cd48977ec68 | 76 | uint32_t exp_variance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 5:8cd48977ec68 | 77 | exp_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 5:8cd48977ec68 | 78 | if(exp_variance !=0) |
jjzak | 5:8cd48977ec68 | 79 | *val_variance |= ((exp_variance)-1023+127)<<23; |
jjzak | 5:8cd48977ec68 | 80 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->variance = -this->variance; |
jjzak | 5:8cd48977ec68 | 81 | return offset; |
jjzak | 5:8cd48977ec68 | 82 | } |
jjzak | 5:8cd48977ec68 | 83 | |
jjzak | 5:8cd48977ec68 | 84 | const char * getType(){ return "sensor_msgs/Illuminance"; }; |
jjzak | 5:8cd48977ec68 | 85 | const char * getMD5(){ return "8cf5febb0952fca9d650c3d11a81a188"; }; |
jjzak | 5:8cd48977ec68 | 86 | |
jjzak | 5:8cd48977ec68 | 87 | }; |
jjzak | 5:8cd48977ec68 | 88 | |
jjzak | 5:8cd48977ec68 | 89 | } |
jjzak | 5:8cd48977ec68 | 90 | #endif |