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Fork of ros_lib_kinetic by
openlab/mobileRobot.h
- Committer:
- randalthor
- Date:
- 2017-05-19
- Revision:
- 2:af816ffd33df
File content as of revision 2:af816ffd33df:
#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