ozgur erbulan
/
ros_kinetic
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ros_lib_kinetic
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Gary Servin
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mobileRobot.h
00001 #ifndef _ROS_openlab_mobileRobot_h 00002 #define _ROS_openlab_mobileRobot_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace openlab 00010 { 00011 00012 class mobileRobot : public ros::Msg 00013 { 00014 public: 00015 typedef float _cmd_velocity_linx_type; 00016 _cmd_velocity_linx_type cmd_velocity_linx; 00017 typedef float _cmd_velocity_angz_type; 00018 _cmd_velocity_angz_type cmd_velocity_angz; 00019 typedef float _real_velocity_linx_type; 00020 _real_velocity_linx_type real_velocity_linx; 00021 typedef float _real_velocity_angz_type; 00022 _real_velocity_angz_type real_velocity_angz; 00023 typedef float _pwm_1_type; 00024 _pwm_1_type pwm_1; 00025 typedef float _pwm_2_type; 00026 _pwm_2_type pwm_2; 00027 typedef float _dc_current_1_type; 00028 _dc_current_1_type dc_current_1; 00029 typedef float _dc_current_2_type; 00030 _dc_current_2_type dc_current_2; 00031 typedef int32_t _encoder_1_type; 00032 _encoder_1_type encoder_1; 00033 typedef int32_t _encoder_2_type; 00034 _encoder_2_type encoder_2; 00035 00036 mobileRobot(): 00037 cmd_velocity_linx(0), 00038 cmd_velocity_angz(0), 00039 real_velocity_linx(0), 00040 real_velocity_angz(0), 00041 pwm_1(0), 00042 pwm_2(0), 00043 dc_current_1(0), 00044 dc_current_2(0), 00045 encoder_1(0), 00046 encoder_2(0) 00047 { 00048 } 00049 00050 virtual int serialize(unsigned char *outbuffer) const 00051 { 00052 int offset = 0; 00053 union { 00054 float real; 00055 uint32_t base; 00056 } u_cmd_velocity_linx; 00057 u_cmd_velocity_linx.real = this->cmd_velocity_linx; 00058 *(outbuffer + offset + 0) = (u_cmd_velocity_linx.base >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (u_cmd_velocity_linx.base >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (u_cmd_velocity_linx.base >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (u_cmd_velocity_linx.base >> (8 * 3)) & 0xFF; 00062 offset += sizeof(this->cmd_velocity_linx); 00063 union { 00064 float real; 00065 uint32_t base; 00066 } u_cmd_velocity_angz; 00067 u_cmd_velocity_angz.real = this->cmd_velocity_angz; 00068 *(outbuffer + offset + 0) = (u_cmd_velocity_angz.base >> (8 * 0)) & 0xFF; 00069 *(outbuffer + offset + 1) = (u_cmd_velocity_angz.base >> (8 * 1)) & 0xFF; 00070 *(outbuffer + offset + 2) = (u_cmd_velocity_angz.base >> (8 * 2)) & 0xFF; 00071 *(outbuffer + offset + 3) = (u_cmd_velocity_angz.base >> (8 * 3)) & 0xFF; 00072 offset += sizeof(this->cmd_velocity_angz); 00073 union { 00074 float real; 00075 uint32_t base; 00076 } u_real_velocity_linx; 00077 u_real_velocity_linx.real = this->real_velocity_linx; 00078 *(outbuffer + offset + 0) = (u_real_velocity_linx.base >> (8 * 0)) & 0xFF; 00079 *(outbuffer + offset + 1) = (u_real_velocity_linx.base >> (8 * 1)) & 0xFF; 00080 *(outbuffer + offset + 2) = (u_real_velocity_linx.base >> (8 * 2)) & 0xFF; 00081 *(outbuffer + offset + 3) = (u_real_velocity_linx.base >> (8 * 3)) & 0xFF; 00082 offset += sizeof(this->real_velocity_linx); 00083 union { 00084 float real; 00085 uint32_t base; 00086 } u_real_velocity_angz; 00087 u_real_velocity_angz.real = this->real_velocity_angz; 00088 *(outbuffer + offset + 0) = (u_real_velocity_angz.base >> (8 * 0)) & 0xFF; 00089 *(outbuffer + offset + 1) = (u_real_velocity_angz.base >> (8 * 1)) & 0xFF; 00090 *(outbuffer + offset + 2) = (u_real_velocity_angz.base >> (8 * 2)) & 0xFF; 00091 *(outbuffer + offset + 3) = (u_real_velocity_angz.base >> (8 * 3)) & 0xFF; 00092 offset += sizeof(this->real_velocity_angz); 00093 union { 00094 float real; 00095 uint32_t base; 00096 } u_pwm_1; 00097 u_pwm_1.real = this->pwm_1; 00098 *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF; 00099 *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF; 00100 *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF; 00101 *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF; 00102 offset += sizeof(this->pwm_1); 00103 union { 00104 float real; 00105 uint32_t base; 00106 } u_pwm_2; 00107 u_pwm_2.real = this->pwm_2; 00108 *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF; 00109 *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF; 00110 *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF; 00111 *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF; 00112 offset += sizeof(this->pwm_2); 00113 union { 00114 float real; 00115 uint32_t base; 00116 } u_dc_current_1; 00117 u_dc_current_1.real = this->dc_current_1; 00118 *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF; 00119 *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF; 00120 *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF; 00121 *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF; 00122 offset += sizeof(this->dc_current_1); 00123 union { 00124 float real; 00125 uint32_t base; 00126 } u_dc_current_2; 00127 u_dc_current_2.real = this->dc_current_2; 00128 *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF; 00129 *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF; 00130 *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF; 00131 *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF; 00132 offset += sizeof(this->dc_current_2); 00133 union { 00134 int32_t real; 00135 uint32_t base; 00136 } u_encoder_1; 00137 u_encoder_1.real = this->encoder_1; 00138 *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF; 00139 *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF; 00140 *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF; 00141 *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF; 00142 offset += sizeof(this->encoder_1); 00143 union { 00144 int32_t real; 00145 uint32_t base; 00146 } u_encoder_2; 00147 u_encoder_2.real = this->encoder_2; 00148 *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF; 00149 *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF; 00150 *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF; 00151 *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF; 00152 offset += sizeof(this->encoder_2); 00153 return offset; 00154 } 00155 00156 virtual int deserialize(unsigned char *inbuffer) 00157 { 00158 int offset = 0; 00159 union { 00160 float real; 00161 uint32_t base; 00162 } u_cmd_velocity_linx; 00163 u_cmd_velocity_linx.base = 0; 00164 u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00165 u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00166 u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00167 u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00168 this->cmd_velocity_linx = u_cmd_velocity_linx.real; 00169 offset += sizeof(this->cmd_velocity_linx); 00170 union { 00171 float real; 00172 uint32_t base; 00173 } u_cmd_velocity_angz; 00174 u_cmd_velocity_angz.base = 0; 00175 u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00176 u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00177 u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00178 u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00179 this->cmd_velocity_angz = u_cmd_velocity_angz.real; 00180 offset += sizeof(this->cmd_velocity_angz); 00181 union { 00182 float real; 00183 uint32_t base; 00184 } u_real_velocity_linx; 00185 u_real_velocity_linx.base = 0; 00186 u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00187 u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00188 u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00189 u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00190 this->real_velocity_linx = u_real_velocity_linx.real; 00191 offset += sizeof(this->real_velocity_linx); 00192 union { 00193 float real; 00194 uint32_t base; 00195 } u_real_velocity_angz; 00196 u_real_velocity_angz.base = 0; 00197 u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00198 u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00199 u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00200 u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00201 this->real_velocity_angz = u_real_velocity_angz.real; 00202 offset += sizeof(this->real_velocity_angz); 00203 union { 00204 float real; 00205 uint32_t base; 00206 } u_pwm_1; 00207 u_pwm_1.base = 0; 00208 u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00209 u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00210 u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00211 u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00212 this->pwm_1 = u_pwm_1.real; 00213 offset += sizeof(this->pwm_1); 00214 union { 00215 float real; 00216 uint32_t base; 00217 } u_pwm_2; 00218 u_pwm_2.base = 0; 00219 u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00220 u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00221 u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00222 u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00223 this->pwm_2 = u_pwm_2.real; 00224 offset += sizeof(this->pwm_2); 00225 union { 00226 float real; 00227 uint32_t base; 00228 } u_dc_current_1; 00229 u_dc_current_1.base = 0; 00230 u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00231 u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00232 u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00233 u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00234 this->dc_current_1 = u_dc_current_1.real; 00235 offset += sizeof(this->dc_current_1); 00236 union { 00237 float real; 00238 uint32_t base; 00239 } u_dc_current_2; 00240 u_dc_current_2.base = 0; 00241 u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00242 u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00243 u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00244 u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00245 this->dc_current_2 = u_dc_current_2.real; 00246 offset += sizeof(this->dc_current_2); 00247 union { 00248 int32_t real; 00249 uint32_t base; 00250 } u_encoder_1; 00251 u_encoder_1.base = 0; 00252 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00253 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00254 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00255 u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00256 this->encoder_1 = u_encoder_1.real; 00257 offset += sizeof(this->encoder_1); 00258 union { 00259 int32_t real; 00260 uint32_t base; 00261 } u_encoder_2; 00262 u_encoder_2.base = 0; 00263 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00264 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00265 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00266 u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00267 this->encoder_2 = u_encoder_2.real; 00268 offset += sizeof(this->encoder_2); 00269 return offset; 00270 } 00271 00272 const char * getType(){ return "openlab/mobileRobot"; }; 00273 const char * getMD5(){ return "5e54beb06e233db01abe11e2006b8b2e"; }; 00274 00275 }; 00276 00277 } 00278 #endif
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