modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: sensor_msgs/Illuminance.h
- Revision:
- 5:8cd48977ec68
diff -r 684f39d0c346 -r 8cd48977ec68 sensor_msgs/Illuminance.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/Illuminance.h Sat Oct 26 15:38:35 2013 +0000 @@ -0,0 +1,90 @@ +#ifndef _ROS_sensor_msgs_Illuminance_h +#define _ROS_sensor_msgs_Illuminance_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace sensor_msgs +{ + + class Illuminance : public ros::Msg + { + public: + std_msgs::Header header; + float illuminance; + float variance; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + int32_t * val_illuminance = (int32_t *) &(this->illuminance); + int32_t exp_illuminance = (((*val_illuminance)>>23)&255); + if(exp_illuminance != 0) + exp_illuminance += 1023-127; + int32_t sig_illuminance = *val_illuminance; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_illuminance<<5) & 0xff; + *(outbuffer + offset++) = (sig_illuminance>>3) & 0xff; + *(outbuffer + offset++) = (sig_illuminance>>11) & 0xff; + *(outbuffer + offset++) = ((exp_illuminance<<4) & 0xF0) | ((sig_illuminance>>19)&0x0F); + *(outbuffer + offset++) = (exp_illuminance>>4) & 0x7F; + if(this->illuminance < 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_illuminance = (uint32_t*) &(this->illuminance); + offset += 3; + *val_illuminance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_illuminance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_illuminance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_illuminance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_illuminance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_illuminance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_illuminance !=0) + *val_illuminance |= ((exp_illuminance)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->illuminance = -this->illuminance; + 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/Illuminance"; }; + const char * getMD5(){ return "8cf5febb0952fca9d650c3d11a81a188"; }; + + }; + +} +#endif