Diff: openlab/mobileRobot.h

Revision:

4:80d9bee5079a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/mobileRobot.h	Sat Mar 04 14:07:56 2017 +0000
@@ -0,0 +1,278 @@
+#ifndef _ROS_openlab_mobileRobot_h
+#define _ROS_openlab_mobileRobot_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+  class mobileRobot : public ros::Msg
+  {
+    public:
+      typedef float _cmd_velocity_linx_type;
+      _cmd_velocity_linx_type cmd_velocity_linx;
+      typedef float _cmd_velocity_angz_type;
+      _cmd_velocity_angz_type cmd_velocity_angz;
+      typedef float _real_velocity_linx_type;
+      _real_velocity_linx_type real_velocity_linx;
+      typedef float _real_velocity_angz_type;
+      _real_velocity_angz_type real_velocity_angz;
+      typedef float _pwm_1_type;
+      _pwm_1_type pwm_1;
+      typedef float _pwm_2_type;
+      _pwm_2_type pwm_2;
+      typedef float _dc_current_1_type;
+      _dc_current_1_type dc_current_1;
+      typedef float _dc_current_2_type;
+      _dc_current_2_type dc_current_2;
+      typedef int32_t _encoder_1_type;
+      _encoder_1_type encoder_1;
+      typedef int32_t _encoder_2_type;
+      _encoder_2_type encoder_2;
+
+    mobileRobot():
+      cmd_velocity_linx(0),
+      cmd_velocity_angz(0),
+      real_velocity_linx(0),
+      real_velocity_angz(0),
+      pwm_1(0),
+      pwm_2(0),
+      dc_current_1(0),
+      dc_current_2(0),
+      encoder_1(0),
+      encoder_2(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_linx;
+      u_cmd_velocity_linx.real = this->cmd_velocity_linx;
+      *(outbuffer + offset + 0) = (u_cmd_velocity_linx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cmd_velocity_linx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cmd_velocity_linx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cmd_velocity_linx.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cmd_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_angz;
+      u_cmd_velocity_angz.real = this->cmd_velocity_angz;
+      *(outbuffer + offset + 0) = (u_cmd_velocity_angz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cmd_velocity_angz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cmd_velocity_angz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cmd_velocity_angz.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cmd_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_linx;
+      u_real_velocity_linx.real = this->real_velocity_linx;
+      *(outbuffer + offset + 0) = (u_real_velocity_linx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_real_velocity_linx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_real_velocity_linx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_real_velocity_linx.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->real_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_angz;
+      u_real_velocity_angz.real = this->real_velocity_angz;
+      *(outbuffer + offset + 0) = (u_real_velocity_angz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_real_velocity_angz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_real_velocity_angz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_real_velocity_angz.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->real_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.real = this->pwm_1;
+      *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.real = this->pwm_2;
+      *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.real = this->dc_current_1;
+      *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.real = this->dc_current_2;
+      *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.real = this->encoder_1;
+      *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.real = this->encoder_2;
+      *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_2);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_linx;
+      u_cmd_velocity_linx.base = 0;
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cmd_velocity_linx = u_cmd_velocity_linx.real;
+      offset += sizeof(this->cmd_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_angz;
+      u_cmd_velocity_angz.base = 0;
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cmd_velocity_angz = u_cmd_velocity_angz.real;
+      offset += sizeof(this->cmd_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_linx;
+      u_real_velocity_linx.base = 0;
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->real_velocity_linx = u_real_velocity_linx.real;
+      offset += sizeof(this->real_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_angz;
+      u_real_velocity_angz.base = 0;
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->real_velocity_angz = u_real_velocity_angz.real;
+      offset += sizeof(this->real_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.base = 0;
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_1 = u_pwm_1.real;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.base = 0;
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_2 = u_pwm_2.real;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.base = 0;
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_1 = u_dc_current_1.real;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.base = 0;
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_2 = u_dc_current_2.real;
+      offset += sizeof(this->dc_current_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.base = 0;
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_1 = u_encoder_1.real;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.base = 0;
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_2 = u_encoder_2.real;
+      offset += sizeof(this->encoder_2);
+     return offset;
+    }
+
+    const char * getType(){ return "openlab/mobileRobot"; };
+    const char * getMD5(){ return "5e54beb06e233db01abe11e2006b8b2e"; };
+
+  };
+
+}
+#endif