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

sensor_msgs/JointState.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_sensor_msgs_JointState_h





nucho

3:1cf99502f396


     2

#define _ROS_sensor_msgs_JointState_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

#include "std_msgs/Header.h"





nucho

0:77afd7560544


     9







nucho

0:77afd7560544


    10

namespace sensor_msgs





nucho

0:77afd7560544


    11

{





nucho

0:77afd7560544


    12







nucho

0:77afd7560544


    13

  class JointState : public ros::Msg





nucho

0:77afd7560544


    14

  {





nucho

0:77afd7560544


    15

    public:





nucho

0:77afd7560544


    16

      std_msgs::Header header;





nucho

3:1cf99502f396


    17

      uint8_t name_length;





nucho

0:77afd7560544


    18

      char* st_name;





nucho

0:77afd7560544


    19

      char* * name;





nucho

3:1cf99502f396


    20

      uint8_t position_length;





nucho

0:77afd7560544


    21

      float st_position;





nucho

0:77afd7560544


    22

      float * position;





nucho

3:1cf99502f396


    23

      uint8_t velocity_length;





nucho

0:77afd7560544


    24

      float st_velocity;





nucho

0:77afd7560544


    25

      float * velocity;





nucho

3:1cf99502f396


    26

      uint8_t effort_length;





nucho

0:77afd7560544


    27

      float st_effort;





nucho

0:77afd7560544


    28

      float * effort;





nucho

0:77afd7560544


    29







nucho

3:1cf99502f396


    30

    virtual int serialize(unsigned char *outbuffer) const





nucho

0:77afd7560544


    31

    {





nucho

0:77afd7560544


    32

      int offset = 0;





nucho

0:77afd7560544


    33

      offset += this->header.serialize(outbuffer + offset);





nucho

0:77afd7560544


    34

      *(outbuffer + offset++) = name_length;





nucho

0:77afd7560544


    35

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    36

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    37

      *(outbuffer + offset++) = 0;





nucho

3:1cf99502f396


    38

      for( uint8_t i = 0; i < name_length; i++){





nucho

3:1cf99502f396


    39

      uint32_t * length_namei = (uint32_t *)(outbuffer + offset);





nucho

0:77afd7560544


    40

      *length_namei = strlen( (const char*) this->name[i]);





nucho

0:77afd7560544


    41

      offset += 4;





nucho

0:77afd7560544


    42

      memcpy(outbuffer + offset, this->name[i], *length_namei);





nucho

0:77afd7560544


    43

      offset += *length_namei;





nucho

0:77afd7560544


    44

      }





nucho

0:77afd7560544


    45

      *(outbuffer + offset++) = position_length;





nucho

0:77afd7560544


    46

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    47

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    48

      *(outbuffer + offset++) = 0;





nucho

3:1cf99502f396


    49

      for( uint8_t i = 0; i < position_length; i++){





nucho

3:1cf99502f396


    50

      int32_t * val_positioni = (long *) &(this->position[i]);





nucho

3:1cf99502f396


    51

      int32_t exp_positioni = (((*val_positioni)>>23)&255);





nucho

0:77afd7560544


    52

      if(exp_positioni != 0)





nucho

0:77afd7560544


    53

        exp_positioni += 1023-127;





nucho

3:1cf99502f396


    54

      int32_t sig_positioni = *val_positioni;





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_positioni<<5) & 0xff;





nucho

0:77afd7560544


    59

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





nucho

0:77afd7560544


    60

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





nucho

0:77afd7560544


    61

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





nucho

0:77afd7560544


    62

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





nucho

0:77afd7560544


    63

      if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;





nucho

0:77afd7560544


    64

      }





nucho

0:77afd7560544


    65

      *(outbuffer + offset++) = velocity_length;





nucho

0:77afd7560544


    66

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    67

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    68

      *(outbuffer + offset++) = 0;





nucho

3:1cf99502f396


    69

      for( uint8_t i = 0; i < velocity_length; i++){





nucho

3:1cf99502f396


    70

      int32_t * val_velocityi = (long *) &(this->velocity[i]);





nucho

3:1cf99502f396


    71

      int32_t exp_velocityi = (((*val_velocityi)>>23)&255);





nucho

0:77afd7560544


    72

      if(exp_velocityi != 0)





nucho

0:77afd7560544


    73

        exp_velocityi += 1023-127;





nucho

3:1cf99502f396


    74

      int32_t sig_velocityi = *val_velocityi;





nucho

0:77afd7560544


    75

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    76

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    77

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    78

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





nucho

0:77afd7560544


    79

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





nucho

0:77afd7560544


    80

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





nucho

0:77afd7560544


    81

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





nucho

0:77afd7560544


    82

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





nucho

0:77afd7560544


    83

      if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;





nucho

0:77afd7560544


    84

      }





nucho

0:77afd7560544


    85

      *(outbuffer + offset++) = effort_length;





nucho

0:77afd7560544


    86

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    87

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    88

      *(outbuffer + offset++) = 0;





nucho

3:1cf99502f396


    89

      for( uint8_t i = 0; i < effort_length; i++){





nucho

3:1cf99502f396


    90

      int32_t * val_efforti = (long *) &(this->effort[i]);





nucho

3:1cf99502f396


    91

      int32_t exp_efforti = (((*val_efforti)>>23)&255);





nucho

0:77afd7560544


    92

      if(exp_efforti != 0)





nucho

0:77afd7560544


    93

        exp_efforti += 1023-127;





nucho

3:1cf99502f396


    94

      int32_t sig_efforti = *val_efforti;





nucho

0:77afd7560544


    95

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    96

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    97

      *(outbuffer + offset++) = 0;





nucho

0:77afd7560544


    98

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





nucho

0:77afd7560544


    99

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





nucho

0:77afd7560544


   100

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





nucho

0:77afd7560544


   101

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





nucho

0:77afd7560544


   102

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





nucho

0:77afd7560544


   103

      if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;





nucho

0:77afd7560544


   104

      }





nucho

0:77afd7560544


   105

      return offset;





nucho

0:77afd7560544


   106

    }





nucho

0:77afd7560544


   107







nucho

0:77afd7560544


   108

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:77afd7560544


   109

    {





nucho

0:77afd7560544


   110

      int offset = 0;





nucho

0:77afd7560544


   111

      offset += this->header.deserialize(inbuffer + offset);





nucho

3:1cf99502f396


   112

      uint8_t name_lengthT = *(inbuffer + offset++);





nucho

0:77afd7560544


   113

      if(name_lengthT > name_length)





nucho

0:77afd7560544


   114

        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));





nucho

0:77afd7560544


   115

      offset += 3;





nucho

0:77afd7560544


   116

      name_length = name_lengthT;





nucho

3:1cf99502f396


   117

      for( uint8_t i = 0; i < name_length; i++){





nucho

0:77afd7560544


   118

      uint32_t length_st_name = *(uint32_t *)(inbuffer + offset);





nucho

0:77afd7560544


   119

      offset += 4;





nucho

0:77afd7560544


   120

      for(unsigned int k= offset; k< offset+length_st_name; ++k){





nucho

0:77afd7560544


   121

          inbuffer[k-1]=inbuffer[k];





nucho

3:1cf99502f396


   122

      }





nucho

0:77afd7560544


   123

      inbuffer[offset+length_st_name-1]=0;





nucho

0:77afd7560544


   124

      this->st_name = (char *)(inbuffer + offset-1);





nucho

0:77afd7560544


   125

      offset += length_st_name;





nucho

0:77afd7560544


   126

        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));





nucho

0:77afd7560544


   127

      }





nucho

3:1cf99502f396


   128

      uint8_t position_lengthT = *(inbuffer + offset++);





nucho

0:77afd7560544


   129

      if(position_lengthT > position_length)





nucho

0:77afd7560544


   130

        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));





nucho

0:77afd7560544


   131

      offset += 3;





nucho

0:77afd7560544


   132

      position_length = position_lengthT;





nucho

3:1cf99502f396


   133

      for( uint8_t i = 0; i < position_length; i++){





nucho

3:1cf99502f396


   134

      uint32_t * val_st_position = (uint32_t*) &(this->st_position);





nucho

0:77afd7560544


   135

      offset += 3;





nucho

3:1cf99502f396


   136

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





nucho

3:1cf99502f396


   137

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





nucho

3:1cf99502f396


   138

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





nucho

3:1cf99502f396


   139

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





nucho

3:1cf99502f396


   140

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





nucho

3:1cf99502f396


   141

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





nucho

0:77afd7560544


   142

      if(exp_st_position !=0)





nucho

0:77afd7560544


   143

        *val_st_position |= ((exp_st_position)-1023+127)<<23;





nucho

0:77afd7560544


   144

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





nucho

0:77afd7560544


   145

        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));





nucho

0:77afd7560544


   146

      }





nucho

3:1cf99502f396


   147

      uint8_t velocity_lengthT = *(inbuffer + offset++);





nucho

0:77afd7560544


   148

      if(velocity_lengthT > velocity_length)





nucho

0:77afd7560544


   149

        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));





nucho

0:77afd7560544


   150

      offset += 3;





nucho

0:77afd7560544


   151

      velocity_length = velocity_lengthT;





nucho

3:1cf99502f396


   152

      for( uint8_t i = 0; i < velocity_length; i++){





nucho

3:1cf99502f396


   153

      uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity);





nucho

0:77afd7560544


   154

      offset += 3;





nucho

3:1cf99502f396


   155

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





nucho

3:1cf99502f396


   156

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





nucho

3:1cf99502f396


   157

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





nucho

3:1cf99502f396


   158

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





nucho

3:1cf99502f396


   159

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





nucho

3:1cf99502f396


   160

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





nucho

0:77afd7560544


   161

      if(exp_st_velocity !=0)





nucho

0:77afd7560544


   162

        *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;





nucho

0:77afd7560544


   163

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





nucho

0:77afd7560544


   164

        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));





nucho

0:77afd7560544


   165

      }





nucho

3:1cf99502f396


   166

      uint8_t effort_lengthT = *(inbuffer + offset++);





nucho

0:77afd7560544


   167

      if(effort_lengthT > effort_length)





nucho

0:77afd7560544


   168

        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));





nucho

0:77afd7560544


   169

      offset += 3;





nucho

0:77afd7560544


   170

      effort_length = effort_lengthT;





nucho

3:1cf99502f396


   171

      for( uint8_t i = 0; i < effort_length; i++){





nucho

3:1cf99502f396


   172

      uint32_t * val_st_effort = (uint32_t*) &(this->st_effort);





nucho

0:77afd7560544


   173

      offset += 3;





nucho

3:1cf99502f396


   174

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





nucho

3:1cf99502f396


   175

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





nucho

3:1cf99502f396


   176

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





nucho

3:1cf99502f396


   177

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





nucho

3:1cf99502f396


   178

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





nucho

3:1cf99502f396


   179

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





nucho

0:77afd7560544


   180

      if(exp_st_effort !=0)





nucho

0:77afd7560544


   181

        *val_st_effort |= ((exp_st_effort)-1023+127)<<23;





nucho

0:77afd7560544


   182

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





nucho

0:77afd7560544


   183

        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));





nucho

0:77afd7560544


   184

      }





nucho

0:77afd7560544


   185

     return offset;





nucho

0:77afd7560544


   186

    }





nucho

0:77afd7560544


   187







nucho

3:1cf99502f396


   188

    virtual const char * getType(){ return "sensor_msgs/JointState"; };





nucho

3:1cf99502f396


   189

    virtual const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };





nucho

0:77afd7560544


   190







nucho

0:77afd7560544


   191

  };





nucho

0:77afd7560544


   192







nucho

0:77afd7560544


   193

}





nucho

0:77afd7560544


   194

#endif