Lib for Gobeur action
Gobeur.h@0:7312173b8d5f, 2021-07-05 (annotated)
- Committer:
- mondiaye
- Date:
- Mon Jul 05 16:47:35 2021 +0000
- Revision:
- 0:7312173b8d5f
- Child:
- 2:853546cbc5fe
First working or not program
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mondiaye | 0:7312173b8d5f | 1 | #ifndef _ROS_stm32_gobeur_Gobeur_h |
mondiaye | 0:7312173b8d5f | 2 | #define _ROS_stm32_gobeur_Gobeur_h |
mondiaye | 0:7312173b8d5f | 3 | |
mondiaye | 0:7312173b8d5f | 4 | #include <stdint.h> |
mondiaye | 0:7312173b8d5f | 5 | #include <string.h> |
mondiaye | 0:7312173b8d5f | 6 | #include <stdlib.h> |
mondiaye | 0:7312173b8d5f | 7 | #include "ros/msg.h" |
mondiaye | 0:7312173b8d5f | 8 | |
mondiaye | 0:7312173b8d5f | 9 | namespace stm32_gobeur |
mondiaye | 0:7312173b8d5f | 10 | { |
mondiaye | 0:7312173b8d5f | 11 | |
mondiaye | 0:7312173b8d5f | 12 | class Gobeur : public ros::Msg |
mondiaye | 0:7312173b8d5f | 13 | { |
mondiaye | 0:7312173b8d5f | 14 | public: |
mondiaye | 0:7312173b8d5f | 15 | typedef uint8_t _gobeur_right_status_type; |
mondiaye | 0:7312173b8d5f | 16 | _gobeur_right_status_type gobeur_right_status; |
mondiaye | 0:7312173b8d5f | 17 | typedef uint8_t _gobeur_left_status_type; |
mondiaye | 0:7312173b8d5f | 18 | _gobeur_left_status_type gobeur_left_status; |
mondiaye | 0:7312173b8d5f | 19 | typedef uint8_t _gobeur_right_aspire_type; |
mondiaye | 0:7312173b8d5f | 20 | _gobeur_right_aspire_type gobeur_right_aspire; |
mondiaye | 0:7312173b8d5f | 21 | typedef uint8_t _gobeur_left_aspire_type; |
mondiaye | 0:7312173b8d5f | 22 | _gobeur_left_aspire_type gobeur_left_aspire; |
mondiaye | 0:7312173b8d5f | 23 | typedef uint8_t _game_status_type; |
mondiaye | 0:7312173b8d5f | 24 | _game_status_type game_status; |
mondiaye | 0:7312173b8d5f | 25 | typedef uint8_t _init_status_type; |
mondiaye | 0:7312173b8d5f | 26 | _init_status_type init_status; |
mondiaye | 0:7312173b8d5f | 27 | |
mondiaye | 0:7312173b8d5f | 28 | Gobeur(): |
mondiaye | 0:7312173b8d5f | 29 | gobeur_right_status(0), |
mondiaye | 0:7312173b8d5f | 30 | gobeur_left_status(0), |
mondiaye | 0:7312173b8d5f | 31 | gobeur_right_aspire(0), |
mondiaye | 0:7312173b8d5f | 32 | gobeur_left_aspire(0), |
mondiaye | 0:7312173b8d5f | 33 | game_status(0), |
mondiaye | 0:7312173b8d5f | 34 | init_status(0) |
mondiaye | 0:7312173b8d5f | 35 | { |
mondiaye | 0:7312173b8d5f | 36 | } |
mondiaye | 0:7312173b8d5f | 37 | |
mondiaye | 0:7312173b8d5f | 38 | virtual int serialize(unsigned char *outbuffer) const |
mondiaye | 0:7312173b8d5f | 39 | { |
mondiaye | 0:7312173b8d5f | 40 | int offset = 0; |
mondiaye | 0:7312173b8d5f | 41 | *(outbuffer + offset + 0) = (this->gobeur_right_status >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 42 | offset += sizeof(this->gobeur_right_status); |
mondiaye | 0:7312173b8d5f | 43 | *(outbuffer + offset + 0) = (this->gobeur_left_status >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 44 | offset += sizeof(this->gobeur_left_status); |
mondiaye | 0:7312173b8d5f | 45 | *(outbuffer + offset + 0) = (this->gobeur_right_aspire >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 46 | offset += sizeof(this->gobeur_right_aspire); |
mondiaye | 0:7312173b8d5f | 47 | *(outbuffer + offset + 0) = (this->gobeur_left_aspire >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 48 | offset += sizeof(this->gobeur_left_aspire); |
mondiaye | 0:7312173b8d5f | 49 | *(outbuffer + offset + 0) = (this->game_status >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 50 | offset += sizeof(this->game_status); |
mondiaye | 0:7312173b8d5f | 51 | *(outbuffer + offset + 0) = (this->init_status >> (8 * 0)) & 0xFF; |
mondiaye | 0:7312173b8d5f | 52 | offset += sizeof(this->init_status); |
mondiaye | 0:7312173b8d5f | 53 | return offset; |
mondiaye | 0:7312173b8d5f | 54 | } |
mondiaye | 0:7312173b8d5f | 55 | |
mondiaye | 0:7312173b8d5f | 56 | virtual int deserialize(unsigned char *inbuffer) |
mondiaye | 0:7312173b8d5f | 57 | { |
mondiaye | 0:7312173b8d5f | 58 | int offset = 0; |
mondiaye | 0:7312173b8d5f | 59 | this->gobeur_right_status = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 60 | offset += sizeof(this->gobeur_right_status); |
mondiaye | 0:7312173b8d5f | 61 | this->gobeur_left_status = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 62 | offset += sizeof(this->gobeur_left_status); |
mondiaye | 0:7312173b8d5f | 63 | this->gobeur_right_aspire = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 64 | offset += sizeof(this->gobeur_right_aspire); |
mondiaye | 0:7312173b8d5f | 65 | this->gobeur_left_aspire = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 66 | offset += sizeof(this->gobeur_left_aspire); |
mondiaye | 0:7312173b8d5f | 67 | this->game_status = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 68 | offset += sizeof(this->game_status); |
mondiaye | 0:7312173b8d5f | 69 | this->init_status = ((uint8_t) (*(inbuffer + offset))); |
mondiaye | 0:7312173b8d5f | 70 | offset += sizeof(this->init_status); |
mondiaye | 0:7312173b8d5f | 71 | return offset; |
mondiaye | 0:7312173b8d5f | 72 | } |
mondiaye | 0:7312173b8d5f | 73 | |
mondiaye | 0:7312173b8d5f | 74 | const char * getType(){ return "stm32_gobeur/Gobeur"; }; |
mondiaye | 0:7312173b8d5f | 75 | const char * getMD5(){ return "5e6d8a0a49a30fe003418b63e30ef455"; }; |
mondiaye | 0:7312173b8d5f | 76 | |
mondiaye | 0:7312173b8d5f | 77 | }; |
mondiaye | 0:7312173b8d5f | 78 | |
mondiaye | 0:7312173b8d5f | 79 | } |
mondiaye | 0:7312173b8d5f | 80 | #endif |