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

ros/msg.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 /*
garyservin 0:fd24f7ca9688 2 * Software License Agreement (BSD License)
garyservin 0:fd24f7ca9688 3 *
garyservin 0:fd24f7ca9688 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:fd24f7ca9688 5 * All rights reserved.
garyservin 0:fd24f7ca9688 6 *
garyservin 0:fd24f7ca9688 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:fd24f7ca9688 8 * modification, are permitted provided that the following conditions
garyservin 0:fd24f7ca9688 9 * are met:
garyservin 0:fd24f7ca9688 10 *
garyservin 0:fd24f7ca9688 11 * * Redistributions of source code must retain the above copyright
garyservin 0:fd24f7ca9688 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:fd24f7ca9688 13 * * Redistributions in binary form must reproduce the above
garyservin 0:fd24f7ca9688 14 * copyright notice, this list of conditions and the following
garyservin 0:fd24f7ca9688 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:fd24f7ca9688 16 * with the distribution.
garyservin 0:fd24f7ca9688 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:fd24f7ca9688 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:fd24f7ca9688 19 * from this software without specific prior written permission.
garyservin 0:fd24f7ca9688 20 *
garyservin 0:fd24f7ca9688 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:fd24f7ca9688 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:fd24f7ca9688 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:fd24f7ca9688 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:fd24f7ca9688 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:fd24f7ca9688 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:fd24f7ca9688 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:fd24f7ca9688 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:fd24f7ca9688 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:fd24f7ca9688 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:fd24f7ca9688 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:fd24f7ca9688 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:fd24f7ca9688 33 */
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 #ifndef _ROS_MSG_H_
garyservin 0:fd24f7ca9688 36 #define _ROS_MSG_H_
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 #include <stdint.h>
garyservin 0:fd24f7ca9688 39
garyservin 0:fd24f7ca9688 40 namespace ros {
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 /* Base Message Type */
garyservin 0:fd24f7ca9688 43 class Msg
garyservin 0:fd24f7ca9688 44 {
garyservin 0:fd24f7ca9688 45 public:
garyservin 0:fd24f7ca9688 46 virtual int serialize(unsigned char *outbuffer) const = 0;
garyservin 0:fd24f7ca9688 47 virtual int deserialize(unsigned char *data) = 0;
garyservin 0:fd24f7ca9688 48 virtual const char * getType() = 0;
garyservin 0:fd24f7ca9688 49 virtual const char * getMD5() = 0;
garyservin 0:fd24f7ca9688 50
garyservin 0:fd24f7ca9688 51 /**
garyservin 0:fd24f7ca9688 52 * @brief This tricky function handles promoting a 32bit float to a 64bit
garyservin 0:fd24f7ca9688 53 * double, so that AVR can publish messages containing float64
garyservin 0:fd24f7ca9688 54 * fields, despite AVV having no native support for double.
garyservin 0:fd24f7ca9688 55 *
garyservin 0:fd24f7ca9688 56 * @param[out] outbuffer pointer for buffer to serialize to.
garyservin 0:fd24f7ca9688 57 * @param[in] f value to serialize.
garyservin 0:fd24f7ca9688 58 *
garyservin 0:fd24f7ca9688 59 * @return number of bytes to advance the buffer pointer.
garyservin 0:fd24f7ca9688 60 *
garyservin 0:fd24f7ca9688 61 */
garyservin 0:fd24f7ca9688 62 static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
garyservin 0:fd24f7ca9688 63 {
garyservin 0:fd24f7ca9688 64 const int32_t* val = (int32_t*) &f;
garyservin 0:fd24f7ca9688 65 int32_t exp = ((*val >> 23) & 255);
garyservin 0:fd24f7ca9688 66 if (exp != 0)
garyservin 0:fd24f7ca9688 67 {
garyservin 0:fd24f7ca9688 68 exp += 1023 - 127;
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 int32_t sig = *val;
garyservin 0:fd24f7ca9688 72 *(outbuffer++) = 0;
garyservin 0:fd24f7ca9688 73 *(outbuffer++) = 0;
garyservin 0:fd24f7ca9688 74 *(outbuffer++) = 0;
garyservin 0:fd24f7ca9688 75 *(outbuffer++) = (sig << 5) & 0xff;
garyservin 0:fd24f7ca9688 76 *(outbuffer++) = (sig >> 3) & 0xff;
garyservin 0:fd24f7ca9688 77 *(outbuffer++) = (sig >> 11) & 0xff;
garyservin 0:fd24f7ca9688 78 *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
garyservin 0:fd24f7ca9688 79 *(outbuffer++) = (exp >> 4) & 0x7F;
garyservin 0:fd24f7ca9688 80
garyservin 0:fd24f7ca9688 81 // Mark negative bit as necessary.
garyservin 0:fd24f7ca9688 82 if (f < 0)
garyservin 0:fd24f7ca9688 83 {
garyservin 0:fd24f7ca9688 84 *(outbuffer - 1) |= 0x80;
garyservin 0:fd24f7ca9688 85 }
garyservin 0:fd24f7ca9688 86
garyservin 0:fd24f7ca9688 87 return 8;
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 /**
garyservin 0:fd24f7ca9688 91 * @brief This tricky function handles demoting a 64bit double to a
garyservin 0:fd24f7ca9688 92 * 32bit float, so that AVR can understand messages containing
garyservin 0:fd24f7ca9688 93 * float64 fields, despite AVR having no native support for double.
garyservin 0:fd24f7ca9688 94 *
garyservin 0:fd24f7ca9688 95 * @param[in] inbuffer pointer for buffer to deserialize from.
garyservin 0:fd24f7ca9688 96 * @param[out] f pointer to place the deserialized value in.
garyservin 0:fd24f7ca9688 97 *
garyservin 0:fd24f7ca9688 98 * @return number of bytes to advance the buffer pointer.
garyservin 0:fd24f7ca9688 99 */
garyservin 0:fd24f7ca9688 100 static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
garyservin 0:fd24f7ca9688 101 {
garyservin 0:fd24f7ca9688 102 uint32_t* val = (uint32_t*)f;
garyservin 0:fd24f7ca9688 103 inbuffer += 3;
garyservin 0:fd24f7ca9688 104
garyservin 0:fd24f7ca9688 105 // Copy truncated mantissa.
garyservin 0:fd24f7ca9688 106 *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
garyservin 0:fd24f7ca9688 107 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
garyservin 0:fd24f7ca9688 108 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
garyservin 0:fd24f7ca9688 109 *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
garyservin 0:fd24f7ca9688 110
garyservin 0:fd24f7ca9688 111 // Copy truncated exponent.
garyservin 0:fd24f7ca9688 112 uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0)>>4;
garyservin 0:fd24f7ca9688 113 exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
garyservin 0:fd24f7ca9688 114 if (exp != 0)
garyservin 0:fd24f7ca9688 115 {
garyservin 0:fd24f7ca9688 116 *val |= ((exp) - 1023 + 127) << 23;
garyservin 0:fd24f7ca9688 117 }
garyservin 0:fd24f7ca9688 118
garyservin 0:fd24f7ca9688 119 // Copy negative sign.
garyservin 0:fd24f7ca9688 120 *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
garyservin 0:fd24f7ca9688 121
garyservin 0:fd24f7ca9688 122 return 8;
garyservin 0:fd24f7ca9688 123 }
garyservin 0:fd24f7ca9688 124
garyservin 0:fd24f7ca9688 125 };
garyservin 0:fd24f7ca9688 126
garyservin 0:fd24f7ca9688 127 } // namespace ros
garyservin 0:fd24f7ca9688 128
garyservin 0:fd24f7ca9688 129 #endif