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

rospy_tutorials/Floats.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_rospy_tutorials_Floats_h
garyservin 0:fd24f7ca9688 2 #define _ROS_rospy_tutorials_Floats_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
garyservin 0:fd24f7ca9688 9 namespace rospy_tutorials
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class Floats : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 uint8_t data_length;
garyservin 0:fd24f7ca9688 16 float st_data;
garyservin 0:fd24f7ca9688 17 float * data;
garyservin 0:fd24f7ca9688 18
garyservin 0:fd24f7ca9688 19 Floats():
garyservin 0:fd24f7ca9688 20 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 28 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 29 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 30 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 31 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 32 union {
garyservin 0:fd24f7ca9688 33 float real;
garyservin 0:fd24f7ca9688 34 uint32_t base;
garyservin 0:fd24f7ca9688 35 } u_datai;
garyservin 0:fd24f7ca9688 36 u_datai.real = this->data[i];
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 41 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 42 }
garyservin 0:fd24f7ca9688 43 return offset;
garyservin 0:fd24f7ca9688 44 }
garyservin 0:fd24f7ca9688 45
garyservin 0:fd24f7ca9688 46 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 47 {
garyservin 0:fd24f7ca9688 48 int offset = 0;
garyservin 0:fd24f7ca9688 49 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 50 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 51 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
garyservin 0:fd24f7ca9688 52 offset += 3;
garyservin 0:fd24f7ca9688 53 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 54 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 55 union {
garyservin 0:fd24f7ca9688 56 float real;
garyservin 0:fd24f7ca9688 57 uint32_t base;
garyservin 0:fd24f7ca9688 58 } u_st_data;
garyservin 0:fd24f7ca9688 59 u_st_data.base = 0;
garyservin 0:fd24f7ca9688 60 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 61 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 62 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 63 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 64 this->st_data = u_st_data.real;
garyservin 0:fd24f7ca9688 65 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 66 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
garyservin 0:fd24f7ca9688 67 }
garyservin 0:fd24f7ca9688 68 return offset;
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 const char * getType(){ return "rospy_tutorials/Floats"; };
garyservin 0:fd24f7ca9688 72 const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 };
garyservin 0:fd24f7ca9688 75
garyservin 0:fd24f7ca9688 76 }
garyservin 0:fd24f7ca9688 77 #endif