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msg.h
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef _ROS_MSG_H_ 00036 #define _ROS_MSG_H_ 00037 00038 #include <stdint.h> 00039 #include <stddef.h> 00040 00041 namespace ros { 00042 00043 /* Base Message Type */ 00044 class Msg 00045 { 00046 public: 00047 virtual int serialize(unsigned char *outbuffer) const = 0; 00048 virtual int deserialize(unsigned char *data) = 0; 00049 virtual const char * getType() = 0; 00050 virtual const char * getMD5() = 0; 00051 00052 /** 00053 * @brief This tricky function handles promoting a 32bit float to a 64bit 00054 * double, so that AVR can publish messages containing float64 00055 * fields, despite AVV having no native support for double. 00056 * 00057 * @param[out] outbuffer pointer for buffer to serialize to. 00058 * @param[in] f value to serialize. 00059 * 00060 * @return number of bytes to advance the buffer pointer. 00061 * 00062 */ 00063 static int serializeAvrFloat64(unsigned char* outbuffer, const float f) 00064 { 00065 const int32_t* val = (int32_t*) &f; 00066 int32_t exp = ((*val >> 23) & 255); 00067 if (exp != 0) 00068 { 00069 exp += 1023 - 127; 00070 } 00071 00072 int32_t sig = *val; 00073 *(outbuffer++) = 0; 00074 *(outbuffer++) = 0; 00075 *(outbuffer++) = 0; 00076 *(outbuffer++) = (sig << 5) & 0xff; 00077 *(outbuffer++) = (sig >> 3) & 0xff; 00078 *(outbuffer++) = (sig >> 11) & 0xff; 00079 *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F); 00080 *(outbuffer++) = (exp >> 4) & 0x7F; 00081 00082 // Mark negative bit as necessary. 00083 if (f < 0) 00084 { 00085 *(outbuffer - 1) |= 0x80; 00086 } 00087 00088 return 8; 00089 } 00090 00091 /** 00092 * @brief This tricky function handles demoting a 64bit double to a 00093 * 32bit float, so that AVR can understand messages containing 00094 * float64 fields, despite AVR having no native support for double. 00095 * 00096 * @param[in] inbuffer pointer for buffer to deserialize from. 00097 * @param[out] f pointer to place the deserialized value in. 00098 * 00099 * @return number of bytes to advance the buffer pointer. 00100 */ 00101 static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f) 00102 { 00103 uint32_t* val = (uint32_t*)f; 00104 inbuffer += 3; 00105 00106 // Copy truncated mantissa. 00107 *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07); 00108 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3; 00109 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11; 00110 *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19; 00111 00112 // Copy truncated exponent. 00113 uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0)>>4; 00114 exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4; 00115 if (exp != 0) 00116 { 00117 *val |= ((exp) - 1023 + 127) << 23; 00118 } 00119 00120 // Copy negative sign. 00121 *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24; 00122 00123 return 8; 00124 } 00125 00126 // Copy data from variable into a byte array 00127 template<typename A, typename V> 00128 static void varToArr(A arr, const V var) 00129 { 00130 for(size_t i = 0; i < sizeof(V); i++) 00131 arr[i] = (var >> (8 * i)); 00132 } 00133 00134 // Copy data from a byte array into variable 00135 template<typename V, typename A> 00136 static void arrToVar(V& var, const A arr) 00137 { 00138 var = 0; 00139 for(size_t i = 0; i < sizeof(V); i++) 00140 var |= (arr[i] << (8 * i)); 00141 } 00142 00143 }; 00144 00145 } // namespace ros 00146 00147 #endif
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