Statistics
| Branch: | Revision:

root / quad2 / arduino / src / ros_lib / sensor_msgs / JointState.h @ c1426757

History | View | Annotate | Download (8.09 KB)

1
#ifndef _ROS_sensor_msgs_JointState_h
2
#define _ROS_sensor_msgs_JointState_h
3

    
4
#include <stdint.h>
5
#include <string.h>
6
#include <stdlib.h>
7
#include "ros/msg.h"
8
#include "std_msgs/Header.h"
9

    
10
namespace sensor_msgs
11
{
12

    
13
  class JointState : public ros::Msg
14
  {
15
    public:
16
      std_msgs::Header header;
17
      uint8_t name_length;
18
      char* st_name;
19
      char* * name;
20
      uint8_t position_length;
21
      float st_position;
22
      float * position;
23
      uint8_t velocity_length;
24
      float st_velocity;
25
      float * velocity;
26
      uint8_t effort_length;
27
      float st_effort;
28
      float * effort;
29

    
30
    virtual int serialize(unsigned char *outbuffer) const
31
    {
32
      int offset = 0;
33
      offset += this->header.serialize(outbuffer + offset);
34
      *(outbuffer + offset++) = name_length;
35
      *(outbuffer + offset++) = 0;
36
      *(outbuffer + offset++) = 0;
37
      *(outbuffer + offset++) = 0;
38
      for( uint8_t i = 0; i < name_length; i++){
39
      uint32_t * length_namei = (uint32_t *)(outbuffer + offset);
40
      *length_namei = strlen( (const char*) this->name[i]);
41
      offset += 4;
42
      memcpy(outbuffer + offset, this->name[i], *length_namei);
43
      offset += *length_namei;
44
      }
45
      *(outbuffer + offset++) = position_length;
46
      *(outbuffer + offset++) = 0;
47
      *(outbuffer + offset++) = 0;
48
      *(outbuffer + offset++) = 0;
49
      for( uint8_t i = 0; i < position_length; i++){
50
      int32_t * val_positioni = (long *) &(this->position[i]);
51
      int32_t exp_positioni = (((*val_positioni)>>23)&255);
52
      if(exp_positioni != 0)
53
        exp_positioni += 1023-127;
54
      int32_t sig_positioni = *val_positioni;
55
      *(outbuffer + offset++) = 0;
56
      *(outbuffer + offset++) = 0;
57
      *(outbuffer + offset++) = 0;
58
      *(outbuffer + offset++) = (sig_positioni<<5) & 0xff;
59
      *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;
60
      *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;
61
      *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);
62
      *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;
63
      if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;
64
      }
65
      *(outbuffer + offset++) = velocity_length;
66
      *(outbuffer + offset++) = 0;
67
      *(outbuffer + offset++) = 0;
68
      *(outbuffer + offset++) = 0;
69
      for( uint8_t i = 0; i < velocity_length; i++){
70
      int32_t * val_velocityi = (long *) &(this->velocity[i]);
71
      int32_t exp_velocityi = (((*val_velocityi)>>23)&255);
72
      if(exp_velocityi != 0)
73
        exp_velocityi += 1023-127;
74
      int32_t sig_velocityi = *val_velocityi;
75
      *(outbuffer + offset++) = 0;
76
      *(outbuffer + offset++) = 0;
77
      *(outbuffer + offset++) = 0;
78
      *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;
79
      *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;
80
      *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;
81
      *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);
82
      *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;
83
      if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;
84
      }
85
      *(outbuffer + offset++) = effort_length;
86
      *(outbuffer + offset++) = 0;
87
      *(outbuffer + offset++) = 0;
88
      *(outbuffer + offset++) = 0;
89
      for( uint8_t i = 0; i < effort_length; i++){
90
      int32_t * val_efforti = (long *) &(this->effort[i]);
91
      int32_t exp_efforti = (((*val_efforti)>>23)&255);
92
      if(exp_efforti != 0)
93
        exp_efforti += 1023-127;
94
      int32_t sig_efforti = *val_efforti;
95
      *(outbuffer + offset++) = 0;
96
      *(outbuffer + offset++) = 0;
97
      *(outbuffer + offset++) = 0;
98
      *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;
99
      *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;
100
      *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;
101
      *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);
102
      *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;
103
      if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;
104
      }
105
      return offset;
106
    }
107

    
108
    virtual int deserialize(unsigned char *inbuffer)
109
    {
110
      int offset = 0;
111
      offset += this->header.deserialize(inbuffer + offset);
112
      uint8_t name_lengthT = *(inbuffer + offset++);
113
      if(name_lengthT > name_length)
114
        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
115
      offset += 3;
116
      name_length = name_lengthT;
117
      for( uint8_t i = 0; i < name_length; i++){
118
      uint32_t length_st_name = *(uint32_t *)(inbuffer + offset);
119
      offset += 4;
120
      for(unsigned int k= offset; k< offset+length_st_name; ++k){
121
          inbuffer[k-1]=inbuffer[k];
122
      }
123
      inbuffer[offset+length_st_name-1]=0;
124
      this->st_name = (char *)(inbuffer + offset-1);
125
      offset += length_st_name;
126
        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
127
      }
128
      uint8_t position_lengthT = *(inbuffer + offset++);
129
      if(position_lengthT > position_length)
130
        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
131
      offset += 3;
132
      position_length = position_lengthT;
133
      for( uint8_t i = 0; i < position_length; i++){
134
      uint32_t * val_st_position = (uint32_t*) &(this->st_position);
135
      offset += 3;
136
      *val_st_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
137
      *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
138
      *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
139
      *val_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
140
      uint32_t exp_st_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
141
      exp_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
142
      if(exp_st_position !=0)
143
        *val_st_position |= ((exp_st_position)-1023+127)<<23;
144
      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
145
        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
146
      }
147
      uint8_t velocity_lengthT = *(inbuffer + offset++);
148
      if(velocity_lengthT > velocity_length)
149
        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
150
      offset += 3;
151
      velocity_length = velocity_lengthT;
152
      for( uint8_t i = 0; i < velocity_length; i++){
153
      uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity);
154
      offset += 3;
155
      *val_st_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
156
      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
157
      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
158
      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
159
      uint32_t exp_st_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
160
      exp_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
161
      if(exp_st_velocity !=0)
162
        *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
163
      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
164
        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
165
      }
166
      uint8_t effort_lengthT = *(inbuffer + offset++);
167
      if(effort_lengthT > effort_length)
168
        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
169
      offset += 3;
170
      effort_length = effort_lengthT;
171
      for( uint8_t i = 0; i < effort_length; i++){
172
      uint32_t * val_st_effort = (uint32_t*) &(this->st_effort);
173
      offset += 3;
174
      *val_st_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
175
      *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
176
      *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
177
      *val_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
178
      uint32_t exp_st_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
179
      exp_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
180
      if(exp_st_effort !=0)
181
        *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
182
      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
183
        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
184
      }
185
     return offset;
186
    }
187

    
188
    const char * getType(){ return "sensor_msgs/JointState"; };
189
    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
190

    
191
  };
192

    
193
}
194
#endif