This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
sensor_msgs/NavSatFix.h
- Committer:
- nucho
- Date:
- 2012-02-29
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
File content as of revision 4:684f39d0c346:
#ifndef _ROS_sensor_msgs_NavSatFix_h #define _ROS_sensor_msgs_NavSatFix_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/NavSatStatus.h" namespace sensor_msgs { class NavSatFix : public ros::Msg { public: std_msgs::Header header; sensor_msgs::NavSatStatus status; float latitude; float longitude; float altitude; float position_covariance[9]; uint8_t position_covariance_type; enum { COVARIANCE_TYPE_UNKNOWN = 0 }; enum { COVARIANCE_TYPE_APPROXIMATED = 1 }; enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 }; enum { COVARIANCE_TYPE_KNOWN = 3 }; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->status.serialize(outbuffer + offset); int32_t * val_latitude = (long *) &(this->latitude); int32_t exp_latitude = (((*val_latitude)>>23)&255); if(exp_latitude != 0) exp_latitude += 1023-127; int32_t sig_latitude = *val_latitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_latitude<<5) & 0xff; *(outbuffer + offset++) = (sig_latitude>>3) & 0xff; *(outbuffer + offset++) = (sig_latitude>>11) & 0xff; *(outbuffer + offset++) = ((exp_latitude<<4) & 0xF0) | ((sig_latitude>>19)&0x0F); *(outbuffer + offset++) = (exp_latitude>>4) & 0x7F; if(this->latitude < 0) *(outbuffer + offset -1) |= 0x80; int32_t * val_longitude = (long *) &(this->longitude); int32_t exp_longitude = (((*val_longitude)>>23)&255); if(exp_longitude != 0) exp_longitude += 1023-127; int32_t sig_longitude = *val_longitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_longitude<<5) & 0xff; *(outbuffer + offset++) = (sig_longitude>>3) & 0xff; *(outbuffer + offset++) = (sig_longitude>>11) & 0xff; *(outbuffer + offset++) = ((exp_longitude<<4) & 0xF0) | ((sig_longitude>>19)&0x0F); *(outbuffer + offset++) = (exp_longitude>>4) & 0x7F; if(this->longitude < 0) *(outbuffer + offset -1) |= 0x80; int32_t * val_altitude = (long *) &(this->altitude); int32_t exp_altitude = (((*val_altitude)>>23)&255); if(exp_altitude != 0) exp_altitude += 1023-127; int32_t sig_altitude = *val_altitude; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_altitude<<5) & 0xff; *(outbuffer + offset++) = (sig_altitude>>3) & 0xff; *(outbuffer + offset++) = (sig_altitude>>11) & 0xff; *(outbuffer + offset++) = ((exp_altitude<<4) & 0xF0) | ((sig_altitude>>19)&0x0F); *(outbuffer + offset++) = (exp_altitude>>4) & 0x7F; if(this->altitude < 0) *(outbuffer + offset -1) |= 0x80; unsigned char * position_covariance_val = (unsigned char *) this->position_covariance; for( uint8_t i = 0; i < 9; i++){ int32_t * val_position_covariancei = (long *) &(this->position_covariance[i]); int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255); if(exp_position_covariancei != 0) exp_position_covariancei += 1023-127; int32_t sig_position_covariancei = *val_position_covariancei; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_position_covariancei<<5) & 0xff; *(outbuffer + offset++) = (sig_position_covariancei>>3) & 0xff; *(outbuffer + offset++) = (sig_position_covariancei>>11) & 0xff; *(outbuffer + offset++) = ((exp_position_covariancei<<4) & 0xF0) | ((sig_position_covariancei>>19)&0x0F); *(outbuffer + offset++) = (exp_position_covariancei>>4) & 0x7F; if(this->position_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; } *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF; offset += sizeof(this->position_covariance_type); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->status.deserialize(inbuffer + offset); uint32_t * val_latitude = (uint32_t*) &(this->latitude); offset += 3; *val_latitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_latitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_latitude !=0) *val_latitude |= ((exp_latitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->latitude = -this->latitude; uint32_t * val_longitude = (uint32_t*) &(this->longitude); offset += 3; *val_longitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_longitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_longitude !=0) *val_longitude |= ((exp_longitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->longitude = -this->longitude; uint32_t * val_altitude = (uint32_t*) &(this->altitude); offset += 3; *val_altitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_altitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_altitude !=0) *val_altitude |= ((exp_altitude)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->altitude = -this->altitude; uint8_t * position_covariance_val = (uint8_t*) this->position_covariance; for( uint8_t i = 0; i < 9; i++){ uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]); offset += 3; *val_position_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_position_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_position_covariancei !=0) *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position_covariance[i] = -this->position_covariance[i]; } this->position_covariance_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->position_covariance_type); return offset; } virtual const char * getType(){ return "sensor_msgs/NavSatFix"; }; virtual const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; }; }; } #endif