jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/JointState.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_sensor_msgs_JointState_h
jjzak 6:3c54bc7badd4 2 #define _ROS_sensor_msgs_JointState_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 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9
jjzak 6:3c54bc7badd4 10 namespace sensor_msgs
jjzak 6:3c54bc7badd4 11 {
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class JointState : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 std_msgs::Header header;
jjzak 6:3c54bc7badd4 17 uint8_t name_length;
jjzak 6:3c54bc7badd4 18 char* st_name;
jjzak 6:3c54bc7badd4 19 char* * name;
jjzak 6:3c54bc7badd4 20 uint8_t position_length;
jjzak 6:3c54bc7badd4 21 float st_position;
jjzak 6:3c54bc7badd4 22 float * position;
jjzak 6:3c54bc7badd4 23 uint8_t velocity_length;
jjzak 6:3c54bc7badd4 24 float st_velocity;
jjzak 6:3c54bc7badd4 25 float * velocity;
jjzak 6:3c54bc7badd4 26 uint8_t effort_length;
jjzak 6:3c54bc7badd4 27 float st_effort;
jjzak 6:3c54bc7badd4 28 float * effort;
jjzak 6:3c54bc7badd4 29
jjzak 6:3c54bc7badd4 30 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 31 {
jjzak 6:3c54bc7badd4 32 int offset = 0;
jjzak 6:3c54bc7badd4 33 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 34 *(outbuffer + offset++) = name_length;
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 38 for( uint8_t i = 0; i < name_length; i++){
jjzak 6:3c54bc7badd4 39 uint32_t length_namei = strlen( (const char*) this->name[i]);
jjzak 6:3c54bc7badd4 40 memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 41 offset += 4;
jjzak 6:3c54bc7badd4 42 memcpy(outbuffer + offset, this->name[i], length_namei);
jjzak 6:3c54bc7badd4 43 offset += length_namei;
jjzak 6:3c54bc7badd4 44 }
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset++) = position_length;
jjzak 6:3c54bc7badd4 46 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 47 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 48 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 49 for( uint8_t i = 0; i < position_length; i++){
jjzak 6:3c54bc7badd4 50 int32_t * val_positioni = (int32_t *) &(this->position[i]);
jjzak 6:3c54bc7badd4 51 int32_t exp_positioni = (((*val_positioni)>>23)&255);
jjzak 6:3c54bc7badd4 52 if(exp_positioni != 0)
jjzak 6:3c54bc7badd4 53 exp_positioni += 1023-127;
jjzak 6:3c54bc7badd4 54 int32_t sig_positioni = *val_positioni;
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_positioni<<5) & 0xff;
jjzak 6:3c54bc7badd4 59 *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;
jjzak 6:3c54bc7badd4 60 *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;
jjzak 6:3c54bc7badd4 61 *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);
jjzak 6:3c54bc7badd4 62 *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;
jjzak 6:3c54bc7badd4 63 if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 64 }
jjzak 6:3c54bc7badd4 65 *(outbuffer + offset++) = velocity_length;
jjzak 6:3c54bc7badd4 66 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 67 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 68 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 69 for( uint8_t i = 0; i < velocity_length; i++){
jjzak 6:3c54bc7badd4 70 int32_t * val_velocityi = (int32_t *) &(this->velocity[i]);
jjzak 6:3c54bc7badd4 71 int32_t exp_velocityi = (((*val_velocityi)>>23)&255);
jjzak 6:3c54bc7badd4 72 if(exp_velocityi != 0)
jjzak 6:3c54bc7badd4 73 exp_velocityi += 1023-127;
jjzak 6:3c54bc7badd4 74 int32_t sig_velocityi = *val_velocityi;
jjzak 6:3c54bc7badd4 75 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 76 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 77 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 78 *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;
jjzak 6:3c54bc7badd4 79 *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;
jjzak 6:3c54bc7badd4 80 *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;
jjzak 6:3c54bc7badd4 81 *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);
jjzak 6:3c54bc7badd4 82 *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;
jjzak 6:3c54bc7badd4 83 if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 84 }
jjzak 6:3c54bc7badd4 85 *(outbuffer + offset++) = effort_length;
jjzak 6:3c54bc7badd4 86 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 87 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 88 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 89 for( uint8_t i = 0; i < effort_length; i++){
jjzak 6:3c54bc7badd4 90 int32_t * val_efforti = (int32_t *) &(this->effort[i]);
jjzak 6:3c54bc7badd4 91 int32_t exp_efforti = (((*val_efforti)>>23)&255);
jjzak 6:3c54bc7badd4 92 if(exp_efforti != 0)
jjzak 6:3c54bc7badd4 93 exp_efforti += 1023-127;
jjzak 6:3c54bc7badd4 94 int32_t sig_efforti = *val_efforti;
jjzak 6:3c54bc7badd4 95 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 96 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 97 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 98 *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;
jjzak 6:3c54bc7badd4 99 *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;
jjzak 6:3c54bc7badd4 100 *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;
jjzak 6:3c54bc7badd4 101 *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);
jjzak 6:3c54bc7badd4 102 *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;
jjzak 6:3c54bc7badd4 103 if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 104 }
jjzak 6:3c54bc7badd4 105 return offset;
jjzak 6:3c54bc7badd4 106 }
jjzak 6:3c54bc7badd4 107
jjzak 6:3c54bc7badd4 108 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 109 {
jjzak 6:3c54bc7badd4 110 int offset = 0;
jjzak 6:3c54bc7badd4 111 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 112 uint8_t name_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 113 if(name_lengthT > name_length)
jjzak 6:3c54bc7badd4 114 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
jjzak 6:3c54bc7badd4 115 offset += 3;
jjzak 6:3c54bc7badd4 116 name_length = name_lengthT;
jjzak 6:3c54bc7badd4 117 for( uint8_t i = 0; i < name_length; i++){
jjzak 6:3c54bc7badd4 118 uint32_t length_st_name;
jjzak 6:3c54bc7badd4 119 memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 120 offset += 4;
jjzak 6:3c54bc7badd4 121 for(unsigned int k= offset; k< offset+length_st_name; ++k){
jjzak 6:3c54bc7badd4 122 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 123 }
jjzak 6:3c54bc7badd4 124 inbuffer[offset+length_st_name-1]=0;
jjzak 6:3c54bc7badd4 125 this->st_name = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 126 offset += length_st_name;
jjzak 6:3c54bc7badd4 127 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
jjzak 6:3c54bc7badd4 128 }
jjzak 6:3c54bc7badd4 129 uint8_t position_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 130 if(position_lengthT > position_length)
jjzak 6:3c54bc7badd4 131 this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
jjzak 6:3c54bc7badd4 132 offset += 3;
jjzak 6:3c54bc7badd4 133 position_length = position_lengthT;
jjzak 6:3c54bc7badd4 134 for( uint8_t i = 0; i < position_length; i++){
jjzak 6:3c54bc7badd4 135 uint32_t * val_st_position = (uint32_t*) &(this->st_position);
jjzak 6:3c54bc7badd4 136 offset += 3;
jjzak 6:3c54bc7badd4 137 *val_st_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 138 *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 139 *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 140 *val_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 141 uint32_t exp_st_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 142 exp_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 143 if(exp_st_position !=0)
jjzak 6:3c54bc7badd4 144 *val_st_position |= ((exp_st_position)-1023+127)<<23;
jjzak 6:3c54bc7badd4 145 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
jjzak 6:3c54bc7badd4 146 memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
jjzak 6:3c54bc7badd4 147 }
jjzak 6:3c54bc7badd4 148 uint8_t velocity_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 149 if(velocity_lengthT > velocity_length)
jjzak 6:3c54bc7badd4 150 this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
jjzak 6:3c54bc7badd4 151 offset += 3;
jjzak 6:3c54bc7badd4 152 velocity_length = velocity_lengthT;
jjzak 6:3c54bc7badd4 153 for( uint8_t i = 0; i < velocity_length; i++){
jjzak 6:3c54bc7badd4 154 uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity);
jjzak 6:3c54bc7badd4 155 offset += 3;
jjzak 6:3c54bc7badd4 156 *val_st_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 157 *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 158 *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 159 *val_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 160 uint32_t exp_st_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 161 exp_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 162 if(exp_st_velocity !=0)
jjzak 6:3c54bc7badd4 163 *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
jjzak 6:3c54bc7badd4 164 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
jjzak 6:3c54bc7badd4 165 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
jjzak 6:3c54bc7badd4 166 }
jjzak 6:3c54bc7badd4 167 uint8_t effort_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 168 if(effort_lengthT > effort_length)
jjzak 6:3c54bc7badd4 169 this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
jjzak 6:3c54bc7badd4 170 offset += 3;
jjzak 6:3c54bc7badd4 171 effort_length = effort_lengthT;
jjzak 6:3c54bc7badd4 172 for( uint8_t i = 0; i < effort_length; i++){
jjzak 6:3c54bc7badd4 173 uint32_t * val_st_effort = (uint32_t*) &(this->st_effort);
jjzak 6:3c54bc7badd4 174 offset += 3;
jjzak 6:3c54bc7badd4 175 *val_st_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 176 *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 177 *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 178 *val_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 179 uint32_t exp_st_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 180 exp_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 181 if(exp_st_effort !=0)
jjzak 6:3c54bc7badd4 182 *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
jjzak 6:3c54bc7badd4 183 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
jjzak 6:3c54bc7badd4 184 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
jjzak 6:3c54bc7badd4 185 }
jjzak 6:3c54bc7badd4 186 return offset;
jjzak 6:3c54bc7badd4 187 }
jjzak 6:3c54bc7badd4 188
jjzak 6:3c54bc7badd4 189 const char * getType(){ return "sensor_msgs/JointState"; };
jjzak 6:3c54bc7badd4 190 const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
jjzak 6:3c54bc7badd4 191
jjzak 6:3c54bc7badd4 192 };
jjzak 6:3c54bc7badd4 193
jjzak 6:3c54bc7badd4 194 }
jjzak 6:3c54bc7badd4 195 #endif