ozgur erbulan / ros_kinetic

added 1 custom message

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

openlab/RF.h@2:af816ffd33df, 2017-05-19 (annotated)

Committer:
randalthor
Date:
Fri May 19 08:59:12 2017 +0000
Revision:
2:af816ffd33df
custom message mobile robot added for ITU cyber physical lab

Who changed what in which revision?

UserRevisionLine numberNew contents of line
randalthor 2:af816ffd33df 1 #ifndef _ROS_openlab_RF_h
randalthor 2:af816ffd33df 2 #define _ROS_openlab_RF_h
randalthor 2:af816ffd33df 3
randalthor 2:af816ffd33df 4 #include <stdint.h>
randalthor 2:af816ffd33df 5 #include <string.h>
randalthor 2:af816ffd33df 6 #include <stdlib.h>
randalthor 2:af816ffd33df 7 #include "ros/msg.h"
randalthor 2:af816ffd33df 8
randalthor 2:af816ffd33df 9 namespace openlab
randalthor 2:af816ffd33df 10 {
randalthor 2:af816ffd33df 11
randalthor 2:af816ffd33df 12 class RF : public ros::Msg
randalthor 2:af816ffd33df 13 {
randalthor 2:af816ffd33df 14 public:
randalthor 2:af816ffd33df 15 typedef int32_t _encoder_1_type;
randalthor 2:af816ffd33df 16 _encoder_1_type encoder_1;
randalthor 2:af816ffd33df 17 typedef int32_t _encoder_2_type;
randalthor 2:af816ffd33df 18 _encoder_2_type encoder_2;
randalthor 2:af816ffd33df 19 typedef int32_t _encoder_3_type;
randalthor 2:af816ffd33df 20 _encoder_3_type encoder_3;
randalthor 2:af816ffd33df 21 typedef int32_t _encoder_4_type;
randalthor 2:af816ffd33df 22 _encoder_4_type encoder_4;
randalthor 2:af816ffd33df 23
randalthor 2:af816ffd33df 24 RF():
randalthor 2:af816ffd33df 25 encoder_1(0),
randalthor 2:af816ffd33df 26 encoder_2(0),
randalthor 2:af816ffd33df 27 encoder_3(0),
randalthor 2:af816ffd33df 28 encoder_4(0)
randalthor 2:af816ffd33df 29 {
randalthor 2:af816ffd33df 30 }
randalthor 2:af816ffd33df 31
randalthor 2:af816ffd33df 32 virtual int serialize(unsigned char *outbuffer) const
randalthor 2:af816ffd33df 33 {
randalthor 2:af816ffd33df 34 int offset = 0;
randalthor 2:af816ffd33df 35 union {
randalthor 2:af816ffd33df 36 int32_t real;
randalthor 2:af816ffd33df 37 uint32_t base;
randalthor 2:af816ffd33df 38 } u_encoder_1;
randalthor 2:af816ffd33df 39 u_encoder_1.real = this->encoder_1;
randalthor 2:af816ffd33df 40 *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF;
randalthor 2:af816ffd33df 41 *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF;
randalthor 2:af816ffd33df 42 *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF;
randalthor 2:af816ffd33df 43 *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF;
randalthor 2:af816ffd33df 44 offset += sizeof(this->encoder_1);
randalthor 2:af816ffd33df 45 union {
randalthor 2:af816ffd33df 46 int32_t real;
randalthor 2:af816ffd33df 47 uint32_t base;
randalthor 2:af816ffd33df 48 } u_encoder_2;
randalthor 2:af816ffd33df 49 u_encoder_2.real = this->encoder_2;
randalthor 2:af816ffd33df 50 *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF;
randalthor 2:af816ffd33df 51 *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF;
randalthor 2:af816ffd33df 52 *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF;
randalthor 2:af816ffd33df 53 *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF;
randalthor 2:af816ffd33df 54 offset += sizeof(this->encoder_2);
randalthor 2:af816ffd33df 55 union {
randalthor 2:af816ffd33df 56 int32_t real;
randalthor 2:af816ffd33df 57 uint32_t base;
randalthor 2:af816ffd33df 58 } u_encoder_3;
randalthor 2:af816ffd33df 59 u_encoder_3.real = this->encoder_3;
randalthor 2:af816ffd33df 60 *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
randalthor 2:af816ffd33df 61 *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
randalthor 2:af816ffd33df 62 *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
randalthor 2:af816ffd33df 63 *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
randalthor 2:af816ffd33df 64 offset += sizeof(this->encoder_3);
randalthor 2:af816ffd33df 65 union {
randalthor 2:af816ffd33df 66 int32_t real;
randalthor 2:af816ffd33df 67 uint32_t base;
randalthor 2:af816ffd33df 68 } u_encoder_4;
randalthor 2:af816ffd33df 69 u_encoder_4.real = this->encoder_4;
randalthor 2:af816ffd33df 70 *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
randalthor 2:af816ffd33df 71 *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
randalthor 2:af816ffd33df 72 *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
randalthor 2:af816ffd33df 73 *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
randalthor 2:af816ffd33df 74 offset += sizeof(this->encoder_4);
randalthor 2:af816ffd33df 75 return offset;
randalthor 2:af816ffd33df 76 }
randalthor 2:af816ffd33df 77
randalthor 2:af816ffd33df 78 virtual int deserialize(unsigned char *inbuffer)
randalthor 2:af816ffd33df 79 {
randalthor 2:af816ffd33df 80 int offset = 0;
randalthor 2:af816ffd33df 81 union {
randalthor 2:af816ffd33df 82 int32_t real;
randalthor 2:af816ffd33df 83 uint32_t base;
randalthor 2:af816ffd33df 84 } u_encoder_1;
randalthor 2:af816ffd33df 85 u_encoder_1.base = 0;
randalthor 2:af816ffd33df 86 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
randalthor 2:af816ffd33df 87 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
randalthor 2:af816ffd33df 88 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
randalthor 2:af816ffd33df 89 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
randalthor 2:af816ffd33df 90 this->encoder_1 = u_encoder_1.real;
randalthor 2:af816ffd33df 91 offset += sizeof(this->encoder_1);
randalthor 2:af816ffd33df 92 union {
randalthor 2:af816ffd33df 93 int32_t real;
randalthor 2:af816ffd33df 94 uint32_t base;
randalthor 2:af816ffd33df 95 } u_encoder_2;
randalthor 2:af816ffd33df 96 u_encoder_2.base = 0;
randalthor 2:af816ffd33df 97 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
randalthor 2:af816ffd33df 98 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
randalthor 2:af816ffd33df 99 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
randalthor 2:af816ffd33df 100 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
randalthor 2:af816ffd33df 101 this->encoder_2 = u_encoder_2.real;
randalthor 2:af816ffd33df 102 offset += sizeof(this->encoder_2);
randalthor 2:af816ffd33df 103 union {
randalthor 2:af816ffd33df 104 int32_t real;
randalthor 2:af816ffd33df 105 uint32_t base;
randalthor 2:af816ffd33df 106 } u_encoder_3;
randalthor 2:af816ffd33df 107 u_encoder_3.base = 0;
randalthor 2:af816ffd33df 108 u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
randalthor 2:af816ffd33df 109 u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
randalthor 2:af816ffd33df 110 u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
randalthor 2:af816ffd33df 111 u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
randalthor 2:af816ffd33df 112 this->encoder_3 = u_encoder_3.real;
randalthor 2:af816ffd33df 113 offset += sizeof(this->encoder_3);
randalthor 2:af816ffd33df 114 union {
randalthor 2:af816ffd33df 115 int32_t real;
randalthor 2:af816ffd33df 116 uint32_t base;
randalthor 2:af816ffd33df 117 } u_encoder_4;
randalthor 2:af816ffd33df 118 u_encoder_4.base = 0;
randalthor 2:af816ffd33df 119 u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
randalthor 2:af816ffd33df 120 u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
randalthor 2:af816ffd33df 121 u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
randalthor 2:af816ffd33df 122 u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
randalthor 2:af816ffd33df 123 this->encoder_4 = u_encoder_4.real;
randalthor 2:af816ffd33df 124 offset += sizeof(this->encoder_4);
randalthor 2:af816ffd33df 125 return offset;
randalthor 2:af816ffd33df 126 }
randalthor 2:af816ffd33df 127
randalthor 2:af816ffd33df 128 const char * getType(){ return "openlab/RF"; };
randalthor 2:af816ffd33df 129 const char * getMD5(){ return "72ef78eb5e9bafb28f2bd3ab6be8a6a5"; };
randalthor 2:af816ffd33df 130
randalthor 2:af816ffd33df 131 };
randalthor 2:af816ffd33df 132
randalthor 2:af816ffd33df 133 }
randalthor 2:af816ffd33df 134 #endif