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

sensor_msgs/JoyFeedback.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_sensor_msgs_JoyFeedback_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_JoyFeedback_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 sensor_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class JoyFeedback : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 uint8_t type;
garyservin 0:fd24f7ca9688 16 uint8_t id;
garyservin 0:fd24f7ca9688 17 float intensity;
garyservin 0:fd24f7ca9688 18 enum { TYPE_LED = 0 };
garyservin 0:fd24f7ca9688 19 enum { TYPE_RUMBLE = 1 };
garyservin 0:fd24f7ca9688 20 enum { TYPE_BUZZER = 2 };
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 JoyFeedback():
garyservin 0:fd24f7ca9688 23 type(0),
garyservin 0:fd24f7ca9688 24 id(0),
garyservin 0:fd24f7ca9688 25 intensity(0)
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 }
garyservin 0:fd24f7ca9688 28
garyservin 0:fd24f7ca9688 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 int offset = 0;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 33 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 35 offset += sizeof(this->id);
garyservin 0:fd24f7ca9688 36 union {
garyservin 0:fd24f7ca9688 37 float real;
garyservin 0:fd24f7ca9688 38 uint32_t base;
garyservin 0:fd24f7ca9688 39 } u_intensity;
garyservin 0:fd24f7ca9688 40 u_intensity.real = this->intensity;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (u_intensity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 1) = (u_intensity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 2) = (u_intensity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 3) = (u_intensity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 45 offset += sizeof(this->intensity);
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 50 {
garyservin 0:fd24f7ca9688 51 int offset = 0;
garyservin 0:fd24f7ca9688 52 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 53 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 54 this->id = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 55 offset += sizeof(this->id);
garyservin 0:fd24f7ca9688 56 union {
garyservin 0:fd24f7ca9688 57 float real;
garyservin 0:fd24f7ca9688 58 uint32_t base;
garyservin 0:fd24f7ca9688 59 } u_intensity;
garyservin 0:fd24f7ca9688 60 u_intensity.base = 0;
garyservin 0:fd24f7ca9688 61 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 62 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 63 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 64 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 65 this->intensity = u_intensity.real;
garyservin 0:fd24f7ca9688 66 offset += sizeof(this->intensity);
garyservin 0:fd24f7ca9688 67 return offset;
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69
garyservin 0:fd24f7ca9688 70 const char * getType(){ return "sensor_msgs/JoyFeedback"; };
garyservin 0:fd24f7ca9688 71 const char * getMD5(){ return "f4dcd73460360d98f36e55ee7f2e46f1"; };
garyservin 0:fd24f7ca9688 72
garyservin 0:fd24f7ca9688 73 };
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76 #endif