Diff: ros_lib_melodic/ros/msg.h

Revision:

10:0b7f23df690a

Parent:

9:859bcb293e46

Child:

11:32eeb052cda5

--- a/ros_lib_melodic/ros/msg.h	Thu Jul 30 13:04:10 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,148 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- *  * Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  * Redistributions in binary form must reproduce the above
- *    copyright notice, this list of conditions and the following
- *    disclaimer in the documentation and/or other materials provided
- *    with the distribution.
- *  * Neither the name of Willow Garage, Inc. nor the names of its
- *    contributors may be used to endorse or promote prducts derived
- *    from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef _ROS_MSG_H_
-#define _ROS_MSG_H_
-
-#include <stdint.h>
-#include <stddef.h>
-
-namespace ros
-{
-
-/* Base Message Type */
-class Msg
-{
-public:
-  virtual int serialize(unsigned char *outbuffer) const = 0;
-  virtual int deserialize(unsigned char *data) = 0;
-  virtual const char * getType() = 0;
-  virtual const char * getMD5() = 0;
-
-  /**
-   * @brief This tricky function handles promoting a 32bit float to a 64bit
-   *        double, so that AVR can publish messages containing float64
-   *        fields, despite AVV having no native support for double.
-   *
-   * @param[out] outbuffer pointer for buffer to serialize to.
-   * @param[in] f value to serialize.
-   *
-   * @return number of bytes to advance the buffer pointer.
-   *
-   */
-  static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
-  {
-    const int32_t* val = (int32_t*) &f;
-    int32_t exp = ((*val >> 23) & 255);
-    if (exp != 0)
-    {
-      exp += 1023 - 127;
-    }
-
-    int32_t sig = *val;
-    *(outbuffer++) = 0;
-    *(outbuffer++) = 0;
-    *(outbuffer++) = 0;
-    *(outbuffer++) = (sig << 5) & 0xff;
-    *(outbuffer++) = (sig >> 3) & 0xff;
-    *(outbuffer++) = (sig >> 11) & 0xff;
-    *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
-    *(outbuffer++) = (exp >> 4) & 0x7F;
-
-    // Mark negative bit as necessary.
-    if (f < 0)
-    {
-      *(outbuffer - 1) |= 0x80;
-    }
-
-    return 8;
-  }
-
-  /**
-   * @brief This tricky function handles demoting a 64bit double to a
-   *        32bit float, so that AVR can understand messages containing
-   *        float64 fields, despite AVR having no native support for double.
-   *
-   * @param[in] inbuffer pointer for buffer to deserialize from.
-   * @param[out] f pointer to place the deserialized value in.
-   *
-   * @return number of bytes to advance the buffer pointer.
-   */
-  static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
-  {
-    uint32_t* val = (uint32_t*)f;
-    inbuffer += 3;
-
-    // Copy truncated mantissa.
-    *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
-    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
-    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
-    *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
-
-    // Copy truncated exponent.
-    uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0) >> 4;
-    exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
-    if (exp != 0)
-    {
-      *val |= ((exp) - 1023 + 127) << 23;
-    }
-
-    // Copy negative sign.
-    *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
-
-    return 8;
-  }
-
-  // Copy data from variable into a byte array
-  template<typename A, typename V>
-  static void varToArr(A arr, const V var)
-  {
-    for (size_t i = 0; i < sizeof(V); i++)
-      arr[i] = (var >> (8 * i));
-  }
-
-  // Copy data from a byte array into variable
-  template<typename V, typename A>
-  static void arrToVar(V& var, const A arr)
-  {
-    var = 0;
-    for (size_t i = 0; i < sizeof(V); i++)
-      var |= (arr[i] << (8 * i));
-  }
-
-};
-
-}  // namespace ros
-
-#endif