File content as of revision 2:920c2ef78ddd:

#ifndef _ROS_beginner_tutorials_mobileRobot_h
#define _ROS_beginner_tutorials_mobileRobot_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace beginner_tutorials
{

  class mobileRobot : public ros::Msg
  {
    public:
      typedef float _cmd_velocity_1_type;
      _cmd_velocity_1_type cmd_velocity_1;
      typedef float _cmd_velocity_2_type;
      _cmd_velocity_2_type cmd_velocity_2;
      typedef float _real_velocity_1_type;
      _real_velocity_1_type real_velocity_1;
      typedef float _real_velocity_2_type;
      _real_velocity_2_type real_velocity_2;
      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;

    mobileRobot():
      cmd_velocity_1(0),
      cmd_velocity_2(0),
      real_velocity_1(0),
      real_velocity_2(0),
      pwm_1(0),
      pwm_2(0),
      dc_current_1(0),
      dc_current_2(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_cmd_velocity_1;
      u_cmd_velocity_1.real = this->cmd_velocity_1;
      *(outbuffer + offset + 0) = (u_cmd_velocity_1.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_cmd_velocity_1.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_cmd_velocity_1.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_cmd_velocity_1.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->cmd_velocity_1);
      union {
        float real;
        uint32_t base;
      } u_cmd_velocity_2;
      u_cmd_velocity_2.real = this->cmd_velocity_2;
      *(outbuffer + offset + 0) = (u_cmd_velocity_2.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_cmd_velocity_2.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_cmd_velocity_2.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_cmd_velocity_2.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->cmd_velocity_2);
      union {
        float real;
        uint32_t base;
      } u_real_velocity_1;
      u_real_velocity_1.real = this->real_velocity_1;
      *(outbuffer + offset + 0) = (u_real_velocity_1.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_real_velocity_1.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_real_velocity_1.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_real_velocity_1.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->real_velocity_1);
      union {
        float real;
        uint32_t base;
      } u_real_velocity_2;
      u_real_velocity_2.real = this->real_velocity_2;
      *(outbuffer + offset + 0) = (u_real_velocity_2.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_real_velocity_2.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_real_velocity_2.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_real_velocity_2.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->real_velocity_2);
      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);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_cmd_velocity_1;
      u_cmd_velocity_1.base = 0;
      u_cmd_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_cmd_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_cmd_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_cmd_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->cmd_velocity_1 = u_cmd_velocity_1.real;
      offset += sizeof(this->cmd_velocity_1);
      union {
        float real;
        uint32_t base;
      } u_cmd_velocity_2;
      u_cmd_velocity_2.base = 0;
      u_cmd_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_cmd_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_cmd_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_cmd_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->cmd_velocity_2 = u_cmd_velocity_2.real;
      offset += sizeof(this->cmd_velocity_2);
      union {
        float real;
        uint32_t base;
      } u_real_velocity_1;
      u_real_velocity_1.base = 0;
      u_real_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_real_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_real_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_real_velocity_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->real_velocity_1 = u_real_velocity_1.real;
      offset += sizeof(this->real_velocity_1);
      union {
        float real;
        uint32_t base;
      } u_real_velocity_2;
      u_real_velocity_2.base = 0;
      u_real_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_real_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_real_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_real_velocity_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->real_velocity_2 = u_real_velocity_2.real;
      offset += sizeof(this->real_velocity_2);
      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);
     return offset;
    }

    const char * getType(){ return "beginner_tutorials/mobileRobot"; };
    const char * getMD5(){ return "15b34382215cb6775ff2a03e3b8b2afc"; };

  };

}
#endif