modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/FluidPressure.h
- Committer:
- jjzak
- Date:
- 2013-10-26
- Revision:
- 5:8cd48977ec68
File content as of revision 5:8cd48977ec68:
#ifndef _ROS_sensor_msgs_FluidPressure_h #define _ROS_sensor_msgs_FluidPressure_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class FluidPressure : public ros::Msg { public: std_msgs::Header header; float fluid_pressure; float variance; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); int32_t * val_fluid_pressure = (int32_t *) &(this->fluid_pressure); int32_t exp_fluid_pressure = (((*val_fluid_pressure)>>23)&255); if(exp_fluid_pressure != 0) exp_fluid_pressure += 1023-127; int32_t sig_fluid_pressure = *val_fluid_pressure; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_fluid_pressure<<5) & 0xff; *(outbuffer + offset++) = (sig_fluid_pressure>>3) & 0xff; *(outbuffer + offset++) = (sig_fluid_pressure>>11) & 0xff; *(outbuffer + offset++) = ((exp_fluid_pressure<<4) & 0xF0) | ((sig_fluid_pressure>>19)&0x0F); *(outbuffer + offset++) = (exp_fluid_pressure>>4) & 0x7F; if(this->fluid_pressure < 0) *(outbuffer + offset -1) |= 0x80; int32_t * val_variance = (int32_t *) &(this->variance); int32_t exp_variance = (((*val_variance)>>23)&255); if(exp_variance != 0) exp_variance += 1023-127; int32_t sig_variance = *val_variance; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_variance<<5) & 0xff; *(outbuffer + offset++) = (sig_variance>>3) & 0xff; *(outbuffer + offset++) = (sig_variance>>11) & 0xff; *(outbuffer + offset++) = ((exp_variance<<4) & 0xF0) | ((sig_variance>>19)&0x0F); *(outbuffer + offset++) = (exp_variance>>4) & 0x7F; if(this->variance < 0) *(outbuffer + offset -1) |= 0x80; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t * val_fluid_pressure = (uint32_t*) &(this->fluid_pressure); offset += 3; *val_fluid_pressure = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_fluid_pressure = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_fluid_pressure |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_fluid_pressure !=0) *val_fluid_pressure |= ((exp_fluid_pressure)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->fluid_pressure = -this->fluid_pressure; uint32_t * val_variance = (uint32_t*) &(this->variance); offset += 3; *val_variance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_variance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_variance !=0) *val_variance |= ((exp_variance)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->variance = -this->variance; return offset; } const char * getType(){ return "sensor_msgs/FluidPressure"; }; const char * getMD5(){ return "804dc5cea1c5306d6a2eb80b9833befe"; }; }; } #endif