modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/MagneticField.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_MagneticField_h |
jjzak | 5:8cd48977ec68 | 2 | #define _ROS_sensor_msgs_MagneticField_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 | #include "geometry_msgs/Vector3.h" |
jjzak | 5:8cd48977ec68 | 10 | |
jjzak | 5:8cd48977ec68 | 11 | namespace sensor_msgs |
jjzak | 5:8cd48977ec68 | 12 | { |
jjzak | 5:8cd48977ec68 | 13 | |
jjzak | 5:8cd48977ec68 | 14 | class MagneticField : public ros::Msg |
jjzak | 5:8cd48977ec68 | 15 | { |
jjzak | 5:8cd48977ec68 | 16 | public: |
jjzak | 5:8cd48977ec68 | 17 | std_msgs::Header header; |
jjzak | 5:8cd48977ec68 | 18 | geometry_msgs::Vector3 magnetic_field; |
jjzak | 5:8cd48977ec68 | 19 | float magnetic_field_covariance[9]; |
jjzak | 5:8cd48977ec68 | 20 | |
jjzak | 5:8cd48977ec68 | 21 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 5:8cd48977ec68 | 22 | { |
jjzak | 5:8cd48977ec68 | 23 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 24 | offset += this->header.serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 25 | offset += this->magnetic_field.serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 26 | unsigned char * magnetic_field_covariance_val = (unsigned char *) this->magnetic_field_covariance; |
jjzak | 5:8cd48977ec68 | 27 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 5:8cd48977ec68 | 28 | int32_t * val_magnetic_field_covariancei = (int32_t *) &(this->magnetic_field_covariance[i]); |
jjzak | 5:8cd48977ec68 | 29 | int32_t exp_magnetic_field_covariancei = (((*val_magnetic_field_covariancei)>>23)&255); |
jjzak | 5:8cd48977ec68 | 30 | if(exp_magnetic_field_covariancei != 0) |
jjzak | 5:8cd48977ec68 | 31 | exp_magnetic_field_covariancei += 1023-127; |
jjzak | 5:8cd48977ec68 | 32 | int32_t sig_magnetic_field_covariancei = *val_magnetic_field_covariancei; |
jjzak | 5:8cd48977ec68 | 33 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 34 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 35 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 36 | *(outbuffer + offset++) = (sig_magnetic_field_covariancei<<5) & 0xff; |
jjzak | 5:8cd48977ec68 | 37 | *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>3) & 0xff; |
jjzak | 5:8cd48977ec68 | 38 | *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>11) & 0xff; |
jjzak | 5:8cd48977ec68 | 39 | *(outbuffer + offset++) = ((exp_magnetic_field_covariancei<<4) & 0xF0) | ((sig_magnetic_field_covariancei>>19)&0x0F); |
jjzak | 5:8cd48977ec68 | 40 | *(outbuffer + offset++) = (exp_magnetic_field_covariancei>>4) & 0x7F; |
jjzak | 5:8cd48977ec68 | 41 | if(this->magnetic_field_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 5:8cd48977ec68 | 42 | } |
jjzak | 5:8cd48977ec68 | 43 | return offset; |
jjzak | 5:8cd48977ec68 | 44 | } |
jjzak | 5:8cd48977ec68 | 45 | |
jjzak | 5:8cd48977ec68 | 46 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 5:8cd48977ec68 | 47 | { |
jjzak | 5:8cd48977ec68 | 48 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 49 | offset += this->header.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 50 | offset += this->magnetic_field.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 51 | uint8_t * magnetic_field_covariance_val = (uint8_t*) this->magnetic_field_covariance; |
jjzak | 5:8cd48977ec68 | 52 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 5:8cd48977ec68 | 53 | uint32_t * val_magnetic_field_covariancei = (uint32_t*) &(this->magnetic_field_covariance[i]); |
jjzak | 5:8cd48977ec68 | 54 | offset += 3; |
jjzak | 5:8cd48977ec68 | 55 | *val_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 5:8cd48977ec68 | 56 | *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 5:8cd48977ec68 | 57 | *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 5:8cd48977ec68 | 58 | *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 5:8cd48977ec68 | 59 | uint32_t exp_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 5:8cd48977ec68 | 60 | exp_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 5:8cd48977ec68 | 61 | if(exp_magnetic_field_covariancei !=0) |
jjzak | 5:8cd48977ec68 | 62 | *val_magnetic_field_covariancei |= ((exp_magnetic_field_covariancei)-1023+127)<<23; |
jjzak | 5:8cd48977ec68 | 63 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->magnetic_field_covariance[i] = -this->magnetic_field_covariance[i]; |
jjzak | 5:8cd48977ec68 | 64 | } |
jjzak | 5:8cd48977ec68 | 65 | return offset; |
jjzak | 5:8cd48977ec68 | 66 | } |
jjzak | 5:8cd48977ec68 | 67 | |
jjzak | 5:8cd48977ec68 | 68 | const char * getType(){ return "sensor_msgs/MagneticField"; }; |
jjzak | 5:8cd48977ec68 | 69 | const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; }; |
jjzak | 5:8cd48977ec68 | 70 | |
jjzak | 5:8cd48977ec68 | 71 | }; |
jjzak | 5:8cd48977ec68 | 72 | |
jjzak | 5:8cd48977ec68 | 73 | } |
jjzak | 5:8cd48977ec68 | 74 | #endif |