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

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

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
randalthor 4:80d9bee5079a 1 #ifndef _ROS_openlab_Num_h
randalthor 4:80d9bee5079a 2 #define _ROS_openlab_Num_h
randalthor 4:80d9bee5079a 3
randalthor 4:80d9bee5079a 4 #include <stdint.h>
randalthor 4:80d9bee5079a 5 #include <string.h>
randalthor 4:80d9bee5079a 6 #include <stdlib.h>
randalthor 4:80d9bee5079a 7 #include "ros/msg.h"
randalthor 4:80d9bee5079a 8
randalthor 4:80d9bee5079a 9 namespace openlab
randalthor 4:80d9bee5079a 10 {
randalthor 4:80d9bee5079a 11
randalthor 4:80d9bee5079a 12 class Num : public ros::Msg
randalthor 4:80d9bee5079a 13 {
randalthor 4:80d9bee5079a 14 public:
randalthor 4:80d9bee5079a 15 typedef int64_t _num_type;
randalthor 4:80d9bee5079a 16 _num_type num;
randalthor 4:80d9bee5079a 17
randalthor 4:80d9bee5079a 18 Num():
randalthor 4:80d9bee5079a 19 num(0)
randalthor 4:80d9bee5079a 20 {
randalthor 4:80d9bee5079a 21 }
randalthor 4:80d9bee5079a 22
randalthor 4:80d9bee5079a 23 virtual int serialize(unsigned char *outbuffer) const
randalthor 4:80d9bee5079a 24 {
randalthor 4:80d9bee5079a 25 int offset = 0;
randalthor 4:80d9bee5079a 26 union {
randalthor 4:80d9bee5079a 27 int64_t real;
randalthor 4:80d9bee5079a 28 uint64_t base;
randalthor 4:80d9bee5079a 29 } u_num;
randalthor 4:80d9bee5079a 30 u_num.real = this->num;
randalthor 4:80d9bee5079a 31 *(outbuffer + offset + 0) = (u_num.base >> (8 * 0)) & 0xFF;
randalthor 4:80d9bee5079a 32 *(outbuffer + offset + 1) = (u_num.base >> (8 * 1)) & 0xFF;
randalthor 4:80d9bee5079a 33 *(outbuffer + offset + 2) = (u_num.base >> (8 * 2)) & 0xFF;
randalthor 4:80d9bee5079a 34 *(outbuffer + offset + 3) = (u_num.base >> (8 * 3)) & 0xFF;
randalthor 4:80d9bee5079a 35 *(outbuffer + offset + 4) = (u_num.base >> (8 * 4)) & 0xFF;
randalthor 4:80d9bee5079a 36 *(outbuffer + offset + 5) = (u_num.base >> (8 * 5)) & 0xFF;
randalthor 4:80d9bee5079a 37 *(outbuffer + offset + 6) = (u_num.base >> (8 * 6)) & 0xFF;
randalthor 4:80d9bee5079a 38 *(outbuffer + offset + 7) = (u_num.base >> (8 * 7)) & 0xFF;
randalthor 4:80d9bee5079a 39 offset += sizeof(this->num);
randalthor 4:80d9bee5079a 40 return offset;
randalthor 4:80d9bee5079a 41 }
randalthor 4:80d9bee5079a 42
randalthor 4:80d9bee5079a 43 virtual int deserialize(unsigned char *inbuffer)
randalthor 4:80d9bee5079a 44 {
randalthor 4:80d9bee5079a 45 int offset = 0;
randalthor 4:80d9bee5079a 46 union {
randalthor 4:80d9bee5079a 47 int64_t real;
randalthor 4:80d9bee5079a 48 uint64_t base;
randalthor 4:80d9bee5079a 49 } u_num;
randalthor 4:80d9bee5079a 50 u_num.base = 0;
randalthor 4:80d9bee5079a 51 u_num.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
randalthor 4:80d9bee5079a 52 u_num.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
randalthor 4:80d9bee5079a 53 u_num.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
randalthor 4:80d9bee5079a 54 u_num.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
randalthor 4:80d9bee5079a 55 u_num.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
randalthor 4:80d9bee5079a 56 u_num.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
randalthor 4:80d9bee5079a 57 u_num.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
randalthor 4:80d9bee5079a 58 u_num.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
randalthor 4:80d9bee5079a 59 this->num = u_num.real;
randalthor 4:80d9bee5079a 60 offset += sizeof(this->num);
randalthor 4:80d9bee5079a 61 return offset;
randalthor 4:80d9bee5079a 62 }
randalthor 4:80d9bee5079a 63
randalthor 4:80d9bee5079a 64 const char * getType(){ return "openlab/Num"; };
randalthor 4:80d9bee5079a 65 const char * getMD5(){ return "57d3c40ec3ac3754af76a83e6e73127a"; };
randalthor 4:80d9bee5079a 66
randalthor 4:80d9bee5079a 67 };
randalthor 4:80d9bee5079a 68
randalthor 4:80d9bee5079a 69 }
randalthor 4:80d9bee5079a 70 #endif