ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

bond/Status.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_bond_Status_h
garyservin 0:fd24f7ca9688 2 #define _ROS_bond_Status_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace bond
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Status : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 const char* id;
garyservin 0:fd24f7ca9688 18 const char* instance_id;
garyservin 0:fd24f7ca9688 19 bool active;
garyservin 0:fd24f7ca9688 20 float heartbeat_timeout;
garyservin 0:fd24f7ca9688 21 float heartbeat_period;
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 Status():
garyservin 0:fd24f7ca9688 24 header(),
garyservin 0:fd24f7ca9688 25 id(""),
garyservin 0:fd24f7ca9688 26 instance_id(""),
garyservin 0:fd24f7ca9688 27 active(0),
garyservin 0:fd24f7ca9688 28 heartbeat_timeout(0),
garyservin 0:fd24f7ca9688 29 heartbeat_period(0)
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 }
garyservin 0:fd24f7ca9688 32
garyservin 0:fd24f7ca9688 33 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 34 {
garyservin 0:fd24f7ca9688 35 int offset = 0;
garyservin 0:fd24f7ca9688 36 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 37 uint32_t length_id = strlen(this->id);
garyservin 0:fd24f7ca9688 38 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 39 offset += 4;
garyservin 0:fd24f7ca9688 40 memcpy(outbuffer + offset, this->id, length_id);
garyservin 0:fd24f7ca9688 41 offset += length_id;
garyservin 0:fd24f7ca9688 42 uint32_t length_instance_id = strlen(this->instance_id);
garyservin 0:fd24f7ca9688 43 memcpy(outbuffer + offset, &length_instance_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 44 offset += 4;
garyservin 0:fd24f7ca9688 45 memcpy(outbuffer + offset, this->instance_id, length_instance_id);
garyservin 0:fd24f7ca9688 46 offset += length_instance_id;
garyservin 0:fd24f7ca9688 47 union {
garyservin 0:fd24f7ca9688 48 bool real;
garyservin 0:fd24f7ca9688 49 uint8_t base;
garyservin 0:fd24f7ca9688 50 } u_active;
garyservin 0:fd24f7ca9688 51 u_active.real = this->active;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 53 offset += sizeof(this->active);
garyservin 0:fd24f7ca9688 54 union {
garyservin 0:fd24f7ca9688 55 float real;
garyservin 0:fd24f7ca9688 56 uint32_t base;
garyservin 0:fd24f7ca9688 57 } u_heartbeat_timeout;
garyservin 0:fd24f7ca9688 58 u_heartbeat_timeout.real = this->heartbeat_timeout;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->heartbeat_timeout);
garyservin 0:fd24f7ca9688 64 union {
garyservin 0:fd24f7ca9688 65 float real;
garyservin 0:fd24f7ca9688 66 uint32_t base;
garyservin 0:fd24f7ca9688 67 } u_heartbeat_period;
garyservin 0:fd24f7ca9688 68 u_heartbeat_period.real = this->heartbeat_period;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 73 offset += sizeof(this->heartbeat_period);
garyservin 0:fd24f7ca9688 74 return offset;
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 78 {
garyservin 0:fd24f7ca9688 79 int offset = 0;
garyservin 0:fd24f7ca9688 80 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 81 uint32_t length_id;
garyservin 0:fd24f7ca9688 82 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 83 offset += 4;
garyservin 0:fd24f7ca9688 84 for(unsigned int k= offset; k< offset+length_id; ++k){
garyservin 0:fd24f7ca9688 85 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 86 }
garyservin 0:fd24f7ca9688 87 inbuffer[offset+length_id-1]=0;
garyservin 0:fd24f7ca9688 88 this->id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 89 offset += length_id;
garyservin 0:fd24f7ca9688 90 uint32_t length_instance_id;
garyservin 0:fd24f7ca9688 91 memcpy(&length_instance_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 92 offset += 4;
garyservin 0:fd24f7ca9688 93 for(unsigned int k= offset; k< offset+length_instance_id; ++k){
garyservin 0:fd24f7ca9688 94 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 95 }
garyservin 0:fd24f7ca9688 96 inbuffer[offset+length_instance_id-1]=0;
garyservin 0:fd24f7ca9688 97 this->instance_id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 98 offset += length_instance_id;
garyservin 0:fd24f7ca9688 99 union {
garyservin 0:fd24f7ca9688 100 bool real;
garyservin 0:fd24f7ca9688 101 uint8_t base;
garyservin 0:fd24f7ca9688 102 } u_active;
garyservin 0:fd24f7ca9688 103 u_active.base = 0;
garyservin 0:fd24f7ca9688 104 u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 105 this->active = u_active.real;
garyservin 0:fd24f7ca9688 106 offset += sizeof(this->active);
garyservin 0:fd24f7ca9688 107 union {
garyservin 0:fd24f7ca9688 108 float real;
garyservin 0:fd24f7ca9688 109 uint32_t base;
garyservin 0:fd24f7ca9688 110 } u_heartbeat_timeout;
garyservin 0:fd24f7ca9688 111 u_heartbeat_timeout.base = 0;
garyservin 0:fd24f7ca9688 112 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 113 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 114 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 115 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 116 this->heartbeat_timeout = u_heartbeat_timeout.real;
garyservin 0:fd24f7ca9688 117 offset += sizeof(this->heartbeat_timeout);
garyservin 0:fd24f7ca9688 118 union {
garyservin 0:fd24f7ca9688 119 float real;
garyservin 0:fd24f7ca9688 120 uint32_t base;
garyservin 0:fd24f7ca9688 121 } u_heartbeat_period;
garyservin 0:fd24f7ca9688 122 u_heartbeat_period.base = 0;
garyservin 0:fd24f7ca9688 123 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 124 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 125 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 126 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 127 this->heartbeat_period = u_heartbeat_period.real;
garyservin 0:fd24f7ca9688 128 offset += sizeof(this->heartbeat_period);
garyservin 0:fd24f7ca9688 129 return offset;
garyservin 0:fd24f7ca9688 130 }
garyservin 0:fd24f7ca9688 131
garyservin 0:fd24f7ca9688 132 const char * getType(){ return "bond/Status"; };
garyservin 0:fd24f7ca9688 133 const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
garyservin 0:fd24f7ca9688 134
garyservin 0:fd24f7ca9688 135 };
garyservin 0:fd24f7ca9688 136
garyservin 0:fd24f7ca9688 137 }
garyservin 0:fd24f7ca9688 138 #endif