nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

geometry_msgs/Pose2D.h@4:684f39d0c346, 2012-02-29 (annotated)

Committer:
nucho
Date:
Wed Feb 29 23:00:21 2012 +0000
Revision:
4:684f39d0c346
Parent:
3:1cf99502f396 

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


nucho

3:1cf99502f396


     1

#ifndef _ROS_geometry_msgs_Pose2D_h





nucho

3:1cf99502f396


     2

#define _ROS_geometry_msgs_Pose2D_h





nucho

0:77afd7560544


     3







nucho

0:77afd7560544


     4

#include <stdint.h>





nucho

0:77afd7560544


     5

#include <string.h>





nucho

0:77afd7560544


     6

#include <stdlib.h>





nucho

3:1cf99502f396


     7

#include "ros/msg.h"





nucho

0:77afd7560544


     8







nucho

0:77afd7560544


     9

namespace geometry_msgs





nucho

0:77afd7560544


    10

{





nucho

0:77afd7560544


    11







nucho

0:77afd7560544


    12

  class Pose2D : public ros::Msg





nucho

0:77afd7560544


    13

  {





nucho

0:77afd7560544


    14

    public:





nucho

0:77afd7560544


    15

      float x;





nucho

0:77afd7560544


    16

      float y;





nucho

0:77afd7560544


    17

      float theta;





nucho

0:77afd7560544


    18







nucho

3:1cf99502f396


    19

    virtual int serialize(unsigned char *outbuffer) const





nucho

0:77afd7560544


    20

    {





nucho

0:77afd7560544


    21

      int offset = 0;





nucho

3:1cf99502f396


    22

      int32_t * val_x = (long *) &(this->x);





nucho

3:1cf99502f396


    23

      int32_t exp_x = (((*val_x)>>23)&255);





nucho

0:77afd7560544


    24

      if(exp_x != 0)





nucho

0:77afd7560544


    25

        exp_x += 1023-127;





nucho

3:1cf99502f396


    26

      int32_t sig_x = *val_x;





nucho

0:77afd7560544


    27

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    28

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    29

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    30

      *(outbuffer + offset++) = (sig_x<<5) & 0xff;





nucho

0:77afd7560544


    31

      *(outbuffer + offset++) = (sig_x>>3) & 0xff;





nucho

0:77afd7560544


    32

      *(outbuffer + offset++) = (sig_x>>11) & 0xff;





nucho

0:77afd7560544


    33

      *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);





nucho

0:77afd7560544


    34

      *(outbuffer + offset++) = (exp_x>>4) & 0x7F;





nucho

0:77afd7560544


    35

      if(this->x < 0) *(outbuffer + offset -1) |= 0x80;





nucho

3:1cf99502f396


    36

      int32_t * val_y = (long *) &(this->y);





nucho

3:1cf99502f396


    37

      int32_t exp_y = (((*val_y)>>23)&255);





nucho

0:77afd7560544


    38

      if(exp_y != 0)





nucho

0:77afd7560544


    39

        exp_y += 1023-127;





nucho

3:1cf99502f396


    40

      int32_t sig_y = *val_y;





nucho

0:77afd7560544


    41

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    42

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    43

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    44

      *(outbuffer + offset++) = (sig_y<<5) & 0xff;





nucho

0:77afd7560544


    45

      *(outbuffer + offset++) = (sig_y>>3) & 0xff;





nucho

0:77afd7560544


    46

      *(outbuffer + offset++) = (sig_y>>11) & 0xff;





nucho

0:77afd7560544


    47

      *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);





nucho

0:77afd7560544


    48

      *(outbuffer + offset++) = (exp_y>>4) & 0x7F;





nucho

0:77afd7560544


    49

      if(this->y < 0) *(outbuffer + offset -1) |= 0x80;





nucho

3:1cf99502f396


    50

      int32_t * val_theta = (long *) &(this->theta);





nucho

3:1cf99502f396


    51

      int32_t exp_theta = (((*val_theta)>>23)&255);





nucho

0:77afd7560544


    52

      if(exp_theta != 0)





nucho

0:77afd7560544


    53

        exp_theta += 1023-127;





nucho

3:1cf99502f396


    54

      int32_t sig_theta = *val_theta;





nucho

0:77afd7560544


    55

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    56

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    57

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    58

      *(outbuffer + offset++) = (sig_theta<<5) & 0xff;





nucho

0:77afd7560544


    59

      *(outbuffer + offset++) = (sig_theta>>3) & 0xff;





nucho

0:77afd7560544


    60

      *(outbuffer + offset++) = (sig_theta>>11) & 0xff;





nucho

0:77afd7560544


    61

      *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F);





nucho

0:77afd7560544


    62

      *(outbuffer + offset++) = (exp_theta>>4) & 0x7F;





nucho

0:77afd7560544


    63

      if(this->theta < 0) *(outbuffer + offset -1) |= 0x80;





nucho

0:77afd7560544


    64

      return offset;





nucho

0:77afd7560544


    65

    }





nucho

0:77afd7560544


    66







nucho

0:77afd7560544


    67

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:77afd7560544


    68

    {





nucho

0:77afd7560544


    69

      int offset = 0;





nucho

3:1cf99502f396


    70

      uint32_t * val_x = (uint32_t*) &(this->x);





nucho

0:77afd7560544


    71

      offset += 3;





nucho

3:1cf99502f396


    72

      *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





nucho

3:1cf99502f396


    73

      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





nucho

3:1cf99502f396


    74

      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





nucho

3:1cf99502f396


    75

      *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





nucho

3:1cf99502f396


    76

      uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





nucho

3:1cf99502f396


    77

      exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





nucho

0:77afd7560544


    78

      if(exp_x !=0)





nucho

0:77afd7560544


    79

        *val_x |= ((exp_x)-1023+127)<<23;





nucho

0:77afd7560544


    80

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;





nucho

3:1cf99502f396


    81

      uint32_t * val_y = (uint32_t*) &(this->y);





nucho

0:77afd7560544


    82

      offset += 3;





nucho

3:1cf99502f396


    83

      *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





nucho

3:1cf99502f396


    84

      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





nucho

3:1cf99502f396


    85

      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





nucho

3:1cf99502f396


    86

      *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





nucho

3:1cf99502f396


    87

      uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





nucho

3:1cf99502f396


    88

      exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





nucho

0:77afd7560544


    89

      if(exp_y !=0)





nucho

0:77afd7560544


    90

        *val_y |= ((exp_y)-1023+127)<<23;





nucho

0:77afd7560544


    91

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;





nucho

3:1cf99502f396


    92

      uint32_t * val_theta = (uint32_t*) &(this->theta);





nucho

0:77afd7560544


    93

      offset += 3;





nucho

3:1cf99502f396


    94

      *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





nucho

3:1cf99502f396


    95

      *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





nucho

3:1cf99502f396


    96

      *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





nucho

3:1cf99502f396


    97

      *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





nucho

3:1cf99502f396


    98

      uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





nucho

3:1cf99502f396


    99

      exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





nucho

0:77afd7560544


   100

      if(exp_theta !=0)





nucho

0:77afd7560544


   101

        *val_theta |= ((exp_theta)-1023+127)<<23;





nucho

0:77afd7560544


   102

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta;





nucho

0:77afd7560544


   103

     return offset;





nucho

0:77afd7560544


   104

    }





nucho

0:77afd7560544


   105







nucho

3:1cf99502f396


   106

    virtual const char * getType(){ return "geometry_msgs/Pose2D"; };





nucho

3:1cf99502f396


   107

    virtual const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };





nucho

0:77afd7560544


   108







nucho

0:77afd7560544


   109

  };





nucho

0:77afd7560544


   110







nucho

0:77afd7560544


   111

}





nucho

0:77afd7560544


   112

#endif