Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

ros/msg.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #ifndef _ROS_MSG_H_
garyservin 0:9e9b7db60fd5 36 #define _ROS_MSG_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include <stdint.h>
garyservin 0:9e9b7db60fd5 39 #include <stddef.h>
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 namespace ros {
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 /* Base Message Type */
garyservin 0:9e9b7db60fd5 44 class Msg
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 public:
garyservin 0:9e9b7db60fd5 47 virtual int serialize(unsigned char *outbuffer) const = 0;
garyservin 0:9e9b7db60fd5 48 virtual int deserialize(unsigned char *data) = 0;
garyservin 0:9e9b7db60fd5 49 virtual const char * getType() = 0;
garyservin 0:9e9b7db60fd5 50 virtual const char * getMD5() = 0;
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 /**
garyservin 0:9e9b7db60fd5 53 * @brief This tricky function handles promoting a 32bit float to a 64bit
garyservin 0:9e9b7db60fd5 54 * double, so that AVR can publish messages containing float64
garyservin 0:9e9b7db60fd5 55 * fields, despite AVV having no native support for double.
garyservin 0:9e9b7db60fd5 56 *
garyservin 0:9e9b7db60fd5 57 * @param[out] outbuffer pointer for buffer to serialize to.
garyservin 0:9e9b7db60fd5 58 * @param[in] f value to serialize.
garyservin 0:9e9b7db60fd5 59 *
garyservin 0:9e9b7db60fd5 60 * @return number of bytes to advance the buffer pointer.
garyservin 0:9e9b7db60fd5 61 *
garyservin 0:9e9b7db60fd5 62 */
garyservin 0:9e9b7db60fd5 63 static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 const int32_t* val = (int32_t*) &f;
garyservin 0:9e9b7db60fd5 66 int32_t exp = ((*val >> 23) & 255);
garyservin 0:9e9b7db60fd5 67 if (exp != 0)
garyservin 0:9e9b7db60fd5 68 {
garyservin 0:9e9b7db60fd5 69 exp += 1023 - 127;
garyservin 0:9e9b7db60fd5 70 }
garyservin 0:9e9b7db60fd5 71
garyservin 0:9e9b7db60fd5 72 int32_t sig = *val;
garyservin 0:9e9b7db60fd5 73 *(outbuffer++) = 0;
garyservin 0:9e9b7db60fd5 74 *(outbuffer++) = 0;
garyservin 0:9e9b7db60fd5 75 *(outbuffer++) = 0;
garyservin 0:9e9b7db60fd5 76 *(outbuffer++) = (sig << 5) & 0xff;
garyservin 0:9e9b7db60fd5 77 *(outbuffer++) = (sig >> 3) & 0xff;
garyservin 0:9e9b7db60fd5 78 *(outbuffer++) = (sig >> 11) & 0xff;
garyservin 0:9e9b7db60fd5 79 *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
garyservin 0:9e9b7db60fd5 80 *(outbuffer++) = (exp >> 4) & 0x7F;
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 // Mark negative bit as necessary.
garyservin 0:9e9b7db60fd5 83 if (f < 0)
garyservin 0:9e9b7db60fd5 84 {
garyservin 0:9e9b7db60fd5 85 *(outbuffer - 1) |= 0x80;
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87
garyservin 0:9e9b7db60fd5 88 return 8;
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 /**
garyservin 0:9e9b7db60fd5 92 * @brief This tricky function handles demoting a 64bit double to a
garyservin 0:9e9b7db60fd5 93 * 32bit float, so that AVR can understand messages containing
garyservin 0:9e9b7db60fd5 94 * float64 fields, despite AVR having no native support for double.
garyservin 0:9e9b7db60fd5 95 *
garyservin 0:9e9b7db60fd5 96 * @param[in] inbuffer pointer for buffer to deserialize from.
garyservin 0:9e9b7db60fd5 97 * @param[out] f pointer to place the deserialized value in.
garyservin 0:9e9b7db60fd5 98 *
garyservin 0:9e9b7db60fd5 99 * @return number of bytes to advance the buffer pointer.
garyservin 0:9e9b7db60fd5 100 */
garyservin 0:9e9b7db60fd5 101 static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
garyservin 0:9e9b7db60fd5 102 {
garyservin 0:9e9b7db60fd5 103 uint32_t* val = (uint32_t*)f;
garyservin 0:9e9b7db60fd5 104 inbuffer += 3;
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 // Copy truncated mantissa.
garyservin 0:9e9b7db60fd5 107 *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
garyservin 0:9e9b7db60fd5 108 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
garyservin 0:9e9b7db60fd5 109 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
garyservin 0:9e9b7db60fd5 110 *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 // Copy truncated exponent.
garyservin 0:9e9b7db60fd5 113 uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0)>>4;
garyservin 0:9e9b7db60fd5 114 exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
garyservin 0:9e9b7db60fd5 115 if (exp != 0)
garyservin 0:9e9b7db60fd5 116 {
garyservin 0:9e9b7db60fd5 117 *val |= ((exp) - 1023 + 127) << 23;
garyservin 0:9e9b7db60fd5 118 }
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 // Copy negative sign.
garyservin 0:9e9b7db60fd5 121 *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
garyservin 0:9e9b7db60fd5 122
garyservin 0:9e9b7db60fd5 123 return 8;
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 // Copy data from variable into a byte array
garyservin 0:9e9b7db60fd5 127 template<typename A, typename V>
garyservin 0:9e9b7db60fd5 128 static void varToArr(A arr, const V var)
garyservin 0:9e9b7db60fd5 129 {
garyservin 0:9e9b7db60fd5 130 for(size_t i = 0; i < sizeof(V); i++)
garyservin 0:9e9b7db60fd5 131 arr[i] = (var >> (8 * i));
garyservin 0:9e9b7db60fd5 132 }
garyservin 0:9e9b7db60fd5 133
garyservin 0:9e9b7db60fd5 134 // Copy data from a byte array into variable
garyservin 0:9e9b7db60fd5 135 template<typename V, typename A>
garyservin 0:9e9b7db60fd5 136 static void arrToVar(V& var, const A arr)
garyservin 0:9e9b7db60fd5 137 {
garyservin 0:9e9b7db60fd5 138 var = 0;
garyservin 0:9e9b7db60fd5 139 for(size_t i = 0; i < sizeof(V); i++)
garyservin 0:9e9b7db60fd5 140 var |= (arr[i] << (8 * i));
garyservin 0:9e9b7db60fd5 141 }
garyservin 0:9e9b7db60fd5 142
garyservin 0:9e9b7db60fd5 143 };
garyservin 0:9e9b7db60fd5 144
garyservin 0:9e9b7db60fd5 145 } // namespace ros
garyservin 0:9e9b7db60fd5 146
garyservin 0:9e9b7db60fd5 147 #endif