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Diff: openlab/mobileRobot.h
- Revision:
- 2:af816ffd33df
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/openlab/mobileRobot.h Fri May 19 08:59:12 2017 +0000 @@ -0,0 +1,278 @@ +#ifndef _ROS_openlab_mobileRobot_h +#define _ROS_openlab_mobileRobot_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace openlab +{ + + class mobileRobot : public ros::Msg + { + public: + typedef float _cmd_velocity_linx_type; + _cmd_velocity_linx_type cmd_velocity_linx; + typedef float _cmd_velocity_angz_type; + _cmd_velocity_angz_type cmd_velocity_angz; + typedef float _real_velocity_linx_type; + _real_velocity_linx_type real_velocity_linx; + typedef float _real_velocity_angz_type; + _real_velocity_angz_type real_velocity_angz; + typedef float _pwm_1_type; + _pwm_1_type pwm_1; + typedef float _pwm_2_type; + _pwm_2_type pwm_2; + typedef float _dc_current_1_type; + _dc_current_1_type dc_current_1; + typedef float _dc_current_2_type; + _dc_current_2_type dc_current_2; + typedef int32_t _encoder_1_type; + _encoder_1_type encoder_1; + typedef int32_t _encoder_2_type; + _encoder_2_type encoder_2; + + mobileRobot(): + cmd_velocity_linx(0), + cmd_velocity_angz(0), + real_velocity_linx(0), + real_velocity_angz(0), + pwm_1(0), + pwm_2(0), + dc_current_1(0), + dc_current_2(0), + encoder_1(0), + encoder_2(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + float real; + uint32_t base; + } u_cmd_velocity_linx; + u_cmd_velocity_linx.real = this->cmd_velocity_linx; + *(outbuffer + offset + 0) = (u_cmd_velocity_linx.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_cmd_velocity_linx.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_cmd_velocity_linx.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_cmd_velocity_linx.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->cmd_velocity_linx); + union { + float real; + uint32_t base; + } u_cmd_velocity_angz; + u_cmd_velocity_angz.real = this->cmd_velocity_angz; + *(outbuffer + offset + 0) = (u_cmd_velocity_angz.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_cmd_velocity_angz.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_cmd_velocity_angz.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_cmd_velocity_angz.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->cmd_velocity_angz); + union { + float real; + uint32_t base; + } u_real_velocity_linx; + u_real_velocity_linx.real = this->real_velocity_linx; + *(outbuffer + offset + 0) = (u_real_velocity_linx.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_real_velocity_linx.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_real_velocity_linx.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_real_velocity_linx.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->real_velocity_linx); + union { + float real; + uint32_t base; + } u_real_velocity_angz; + u_real_velocity_angz.real = this->real_velocity_angz; + *(outbuffer + offset + 0) = (u_real_velocity_angz.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_real_velocity_angz.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_real_velocity_angz.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_real_velocity_angz.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->real_velocity_angz); + union { + float real; + uint32_t base; + } u_pwm_1; + u_pwm_1.real = this->pwm_1; + *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->pwm_1); + union { + float real; + uint32_t base; + } u_pwm_2; + u_pwm_2.real = this->pwm_2; + *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->pwm_2); + union { + float real; + uint32_t base; + } u_dc_current_1; + u_dc_current_1.real = this->dc_current_1; + *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->dc_current_1); + union { + float real; + uint32_t base; + } u_dc_current_2; + u_dc_current_2.real = this->dc_current_2; + *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->dc_current_2); + union { + int32_t real; + uint32_t base; + } u_encoder_1; + u_encoder_1.real = this->encoder_1; + *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->encoder_1); + union { + int32_t real; + uint32_t base; + } u_encoder_2; + u_encoder_2.real = this->encoder_2; + *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->encoder_2); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + float real; + uint32_t base; + } u_cmd_velocity_linx; + u_cmd_velocity_linx.base = 0; + u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->cmd_velocity_linx = u_cmd_velocity_linx.real; + offset += sizeof(this->cmd_velocity_linx); + union { + float real; + uint32_t base; + } u_cmd_velocity_angz; + u_cmd_velocity_angz.base = 0; + u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->cmd_velocity_angz = u_cmd_velocity_angz.real; + offset += sizeof(this->cmd_velocity_angz); + union { + float real; + uint32_t base; + } u_real_velocity_linx; + u_real_velocity_linx.base = 0; + u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->real_velocity_linx = u_real_velocity_linx.real; + offset += sizeof(this->real_velocity_linx); + union { + float real; + uint32_t base; + } u_real_velocity_angz; + u_real_velocity_angz.base = 0; + u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->real_velocity_angz = u_real_velocity_angz.real; + offset += sizeof(this->real_velocity_angz); + union { + float real; + uint32_t base; + } u_pwm_1; + u_pwm_1.base = 0; + u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->pwm_1 = u_pwm_1.real; + offset += sizeof(this->pwm_1); + union { + float real; + uint32_t base; + } u_pwm_2; + u_pwm_2.base = 0; + u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->pwm_2 = u_pwm_2.real; + offset += sizeof(this->pwm_2); + union { + float real; + uint32_t base; + } u_dc_current_1; + u_dc_current_1.base = 0; + u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->dc_current_1 = u_dc_current_1.real; + offset += sizeof(this->dc_current_1); + union { + float real; + uint32_t base; + } u_dc_current_2; + u_dc_current_2.base = 0; + u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->dc_current_2 = u_dc_current_2.real; + offset += sizeof(this->dc_current_2); + union { + int32_t real; + uint32_t base; + } u_encoder_1; + u_encoder_1.base = 0; + u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->encoder_1 = u_encoder_1.real; + offset += sizeof(this->encoder_1); + union { + int32_t real; + uint32_t base; + } u_encoder_2; + u_encoder_2.base = 0; + u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->encoder_2 = u_encoder_2.real; + offset += sizeof(this->encoder_2); + return offset; + } + + const char * getType(){ return "openlab/mobileRobot"; }; + const char * getMD5(){ return "5e54beb06e233db01abe11e2006b8b2e"; }; + + }; + +} +#endif