jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/MagneticField.h@5:8cd48977ec68, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:38:35 2013 +0000
Revision:
5:8cd48977ec68
modify for Hydro version

Who changed what in which revision?

UserRevisionLine numberNew 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