ozgur erbulan
It has only one change from original one. I added robotfeedback message on it.
Dependents: RobotFeedback mobileRobotITU
Fork of
ros_lib_indigo
by 
Gary Servin
Revision 4:80d9bee5079a, committed 2017-03-04
- Comitter:
- randalthor
- Date:
- Sat Mar 04 14:07:56 2017 +0000
- Parent:
- 3:ee325a31eec4
- Commit message:
- fatih
Changed in this revision
--- a/beginner_tutorials/RF.h Mon Jan 30 09:19:27 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,134 +0,0 @@
-#ifndef _ROS_beginner_tutorials_RF_h
-#define _ROS_beginner_tutorials_RF_h
-
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include "ros/msg.h"
-
-namespace beginner_tutorials
-{
-
- class RF : public ros::Msg
- {
- public:
- typedef int32_t _encoder_1_type;
- _encoder_1_type encoder_1;
- typedef int32_t _encoder_2_type;
- _encoder_2_type encoder_2;
- typedef int32_t _encoder_3_type;
- _encoder_3_type encoder_3;
- typedef int32_t _encoder_4_type;
- _encoder_4_type encoder_4;
-
- RF():
- encoder_1(0),
- encoder_2(0),
- encoder_3(0),
- encoder_4(0)
- {
- }
-
- virtual int serialize(unsigned char *outbuffer) const
- {
- int offset = 0;
- 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);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_3;
- u_encoder_3.real = this->encoder_3;
- *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->encoder_3);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_4;
- u_encoder_4.real = this->encoder_4;
- *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->encoder_4);
- return offset;
- }
-
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- 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);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_3;
- u_encoder_3.base = 0;
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->encoder_3 = u_encoder_3.real;
- offset += sizeof(this->encoder_3);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_4;
- u_encoder_4.base = 0;
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->encoder_4 = u_encoder_4.real;
- offset += sizeof(this->encoder_4);
- return offset;
- }
-
- const char * getType(){ return "beginner_tutorials/RF"; };
- const char * getMD5(){ return "72ef78eb5e9bafb28f2bd3ab6be8a6a5"; };
-
- };
-
-}
-#endif
--- a/beginner_tutorials/RobotFeedback.h Mon Jan 30 09:19:27 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,422 +0,0 @@
-#ifndef _ROS_beginner_tutorials_RobotFeedback_h
-#define _ROS_beginner_tutorials_RobotFeedback_h
-
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include "ros/msg.h"
-
-namespace beginner_tutorials
-{
-
- class RobotFeedback : public ros::Msg
- {
- public:
- typedef int32_t _encoder_1_type;
- _encoder_1_type encoder_1;
- typedef int32_t _encoder_2_type;
- _encoder_2_type encoder_2;
- typedef int32_t _encoder_3_type;
- _encoder_3_type encoder_3;
- typedef int32_t _encoder_4_type;
- _encoder_4_type encoder_4;
- typedef float _pwm_1_type;
- _pwm_1_type pwm_1;
- typedef float _pwm_2_type;
- _pwm_2_type pwm_2;
- typedef float _pwm_3_type;
- _pwm_3_type pwm_3;
- typedef float _pwm_4_type;
- _pwm_4_type pwm_4;
- 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 float _dc_current_3_type;
- _dc_current_3_type dc_current_3;
- typedef float _dc_current_4_type;
- _dc_current_4_type dc_current_4;
- typedef float _sensor_1_type;
- _sensor_1_type sensor_1;
- typedef float _sensor_2_type;
- _sensor_2_type sensor_2;
- typedef float _sensor_3_type;
- _sensor_3_type sensor_3;
- typedef float _sensor_4_type;
- _sensor_4_type sensor_4;
-
- RobotFeedback():
- encoder_1(0),
- encoder_2(0),
- encoder_3(0),
- encoder_4(0),
- pwm_1(0),
- pwm_2(0),
- pwm_3(0),
- pwm_4(0),
- dc_current_1(0),
- dc_current_2(0),
- dc_current_3(0),
- dc_current_4(0),
- sensor_1(0),
- sensor_2(0),
- sensor_3(0),
- sensor_4(0)
- {
- }
-
- virtual int serialize(unsigned char *outbuffer) const
- {
- int offset = 0;
- 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);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_3;
- u_encoder_3.real = this->encoder_3;
- *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->encoder_3);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_4;
- u_encoder_4.real = this->encoder_4;
- *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->encoder_4);
- 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_pwm_3;
- u_pwm_3.real = this->pwm_3;
- *(outbuffer + offset + 0) = (u_pwm_3.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_pwm_3.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_pwm_3.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_pwm_3.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->pwm_3);
- union {
- float real;
- uint32_t base;
- } u_pwm_4;
- u_pwm_4.real = this->pwm_4;
- *(outbuffer + offset + 0) = (u_pwm_4.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_pwm_4.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_pwm_4.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_pwm_4.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->pwm_4);
- 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 {
- float real;
- uint32_t base;
- } u_dc_current_3;
- u_dc_current_3.real = this->dc_current_3;
- *(outbuffer + offset + 0) = (u_dc_current_3.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_dc_current_3.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_dc_current_3.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_dc_current_3.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->dc_current_3);
- union {
- float real;
- uint32_t base;
- } u_dc_current_4;
- u_dc_current_4.real = this->dc_current_4;
- *(outbuffer + offset + 0) = (u_dc_current_4.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_dc_current_4.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_dc_current_4.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_dc_current_4.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->dc_current_4);
- union {
- float real;
- uint32_t base;
- } u_sensor_1;
- u_sensor_1.real = this->sensor_1;
- *(outbuffer + offset + 0) = (u_sensor_1.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_sensor_1.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_sensor_1.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_sensor_1.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->sensor_1);
- union {
- float real;
- uint32_t base;
- } u_sensor_2;
- u_sensor_2.real = this->sensor_2;
- *(outbuffer + offset + 0) = (u_sensor_2.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_sensor_2.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_sensor_2.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_sensor_2.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->sensor_2);
- union {
- float real;
- uint32_t base;
- } u_sensor_3;
- u_sensor_3.real = this->sensor_3;
- *(outbuffer + offset + 0) = (u_sensor_3.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_sensor_3.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_sensor_3.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_sensor_3.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->sensor_3);
- union {
- float real;
- uint32_t base;
- } u_sensor_4;
- u_sensor_4.real = this->sensor_4;
- *(outbuffer + offset + 0) = (u_sensor_4.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_sensor_4.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_sensor_4.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_sensor_4.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->sensor_4);
- return offset;
- }
-
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- 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);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_3;
- u_encoder_3.base = 0;
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->encoder_3 = u_encoder_3.real;
- offset += sizeof(this->encoder_3);
- union {
- int32_t real;
- uint32_t base;
- } u_encoder_4;
- u_encoder_4.base = 0;
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->encoder_4 = u_encoder_4.real;
- offset += sizeof(this->encoder_4);
- 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_pwm_3;
- u_pwm_3.base = 0;
- u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->pwm_3 = u_pwm_3.real;
- offset += sizeof(this->pwm_3);
- union {
- float real;
- uint32_t base;
- } u_pwm_4;
- u_pwm_4.base = 0;
- u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->pwm_4 = u_pwm_4.real;
- offset += sizeof(this->pwm_4);
- 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 {
- float real;
- uint32_t base;
- } u_dc_current_3;
- u_dc_current_3.base = 0;
- u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->dc_current_3 = u_dc_current_3.real;
- offset += sizeof(this->dc_current_3);
- union {
- float real;
- uint32_t base;
- } u_dc_current_4;
- u_dc_current_4.base = 0;
- u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->dc_current_4 = u_dc_current_4.real;
- offset += sizeof(this->dc_current_4);
- union {
- float real;
- uint32_t base;
- } u_sensor_1;
- u_sensor_1.base = 0;
- u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->sensor_1 = u_sensor_1.real;
- offset += sizeof(this->sensor_1);
- union {
- float real;
- uint32_t base;
- } u_sensor_2;
- u_sensor_2.base = 0;
- u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->sensor_2 = u_sensor_2.real;
- offset += sizeof(this->sensor_2);
- union {
- float real;
- uint32_t base;
- } u_sensor_3;
- u_sensor_3.base = 0;
- u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->sensor_3 = u_sensor_3.real;
- offset += sizeof(this->sensor_3);
- union {
- float real;
- uint32_t base;
- } u_sensor_4;
- u_sensor_4.base = 0;
- u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
- u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
- u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
- u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
- this->sensor_4 = u_sensor_4.real;
- offset += sizeof(this->sensor_4);
- return offset;
- }
-
- const char * getType(){ return "beginner_tutorials/RobotFeedback"; };
- const char * getMD5(){ return "f31bdce92ed3d88b204eacb08d719892"; };
-
- };
-
-}
-#endif
--- a/beginner_tutorials/mobileRobot.h Mon Jan 30 09:19:27 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,278 +0,0 @@
-#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_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 "beginner_tutorials/mobileRobot"; };
- const char * getMD5(){ return "5e54beb06e233db01abe11e2006b8b2e"; };
-
- };
-
-}
-#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/Num.h Sat Mar 04 14:07:56 2017 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_openlab_Num_h
+#define _ROS_openlab_Num_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+ class Num : public ros::Msg
+ {
+ public:
+ typedef int64_t _num_type;
+ _num_type num;
+
+ Num():
+ num(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_num;
+ u_num.real = this->num;
+ *(outbuffer + offset + 0) = (u_num.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_num.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_num.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_num.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_num.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_num.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_num.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_num.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->num);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_num;
+ u_num.base = 0;
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_num.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->num = u_num.real;
+ offset += sizeof(this->num);
+ return offset;
+ }
+
+ const char * getType(){ return "openlab/Num"; };
+ const char * getMD5(){ return "57d3c40ec3ac3754af76a83e6e73127a"; };
+
+ };
+
+}
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/RF.h Sat Mar 04 14:07:56 2017 +0000
@@ -0,0 +1,134 @@
+#ifndef _ROS_openlab_RF_h
+#define _ROS_openlab_RF_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+ class RF : public ros::Msg
+ {
+ public:
+ typedef int32_t _encoder_1_type;
+ _encoder_1_type encoder_1;
+ typedef int32_t _encoder_2_type;
+ _encoder_2_type encoder_2;
+ typedef int32_t _encoder_3_type;
+ _encoder_3_type encoder_3;
+ typedef int32_t _encoder_4_type;
+ _encoder_4_type encoder_4;
+
+ RF():
+ encoder_1(0),
+ encoder_2(0),
+ encoder_3(0),
+ encoder_4(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ 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);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_3;
+ u_encoder_3.real = this->encoder_3;
+ *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->encoder_3);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_4;
+ u_encoder_4.real = this->encoder_4;
+ *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->encoder_4);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ 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);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_3;
+ u_encoder_3.base = 0;
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->encoder_3 = u_encoder_3.real;
+ offset += sizeof(this->encoder_3);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_4;
+ u_encoder_4.base = 0;
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->encoder_4 = u_encoder_4.real;
+ offset += sizeof(this->encoder_4);
+ return offset;
+ }
+
+ const char * getType(){ return "openlab/RF"; };
+ const char * getMD5(){ return "72ef78eb5e9bafb28f2bd3ab6be8a6a5"; };
+
+ };
+
+}
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/RobotFeedback.h Sat Mar 04 14:07:56 2017 +0000
@@ -0,0 +1,422 @@
+#ifndef _ROS_openlab_RobotFeedback_h
+#define _ROS_openlab_RobotFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+ class RobotFeedback : public ros::Msg
+ {
+ public:
+ typedef int32_t _encoder_1_type;
+ _encoder_1_type encoder_1;
+ typedef int32_t _encoder_2_type;
+ _encoder_2_type encoder_2;
+ typedef int32_t _encoder_3_type;
+ _encoder_3_type encoder_3;
+ typedef int32_t _encoder_4_type;
+ _encoder_4_type encoder_4;
+ typedef float _pwm_1_type;
+ _pwm_1_type pwm_1;
+ typedef float _pwm_2_type;
+ _pwm_2_type pwm_2;
+ typedef float _pwm_3_type;
+ _pwm_3_type pwm_3;
+ typedef float _pwm_4_type;
+ _pwm_4_type pwm_4;
+ 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 float _dc_current_3_type;
+ _dc_current_3_type dc_current_3;
+ typedef float _dc_current_4_type;
+ _dc_current_4_type dc_current_4;
+ typedef float _sensor_1_type;
+ _sensor_1_type sensor_1;
+ typedef float _sensor_2_type;
+ _sensor_2_type sensor_2;
+ typedef float _sensor_3_type;
+ _sensor_3_type sensor_3;
+ typedef float _sensor_4_type;
+ _sensor_4_type sensor_4;
+
+ RobotFeedback():
+ encoder_1(0),
+ encoder_2(0),
+ encoder_3(0),
+ encoder_4(0),
+ pwm_1(0),
+ pwm_2(0),
+ pwm_3(0),
+ pwm_4(0),
+ dc_current_1(0),
+ dc_current_2(0),
+ dc_current_3(0),
+ dc_current_4(0),
+ sensor_1(0),
+ sensor_2(0),
+ sensor_3(0),
+ sensor_4(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ 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);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_3;
+ u_encoder_3.real = this->encoder_3;
+ *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->encoder_3);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_4;
+ u_encoder_4.real = this->encoder_4;
+ *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->encoder_4);
+ 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_pwm_3;
+ u_pwm_3.real = this->pwm_3;
+ *(outbuffer + offset + 0) = (u_pwm_3.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_pwm_3.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_pwm_3.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_pwm_3.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->pwm_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_pwm_4;
+ u_pwm_4.real = this->pwm_4;
+ *(outbuffer + offset + 0) = (u_pwm_4.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_pwm_4.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_pwm_4.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_pwm_4.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->pwm_4);
+ 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 {
+ float real;
+ uint32_t base;
+ } u_dc_current_3;
+ u_dc_current_3.real = this->dc_current_3;
+ *(outbuffer + offset + 0) = (u_dc_current_3.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_dc_current_3.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_dc_current_3.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_dc_current_3.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->dc_current_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_dc_current_4;
+ u_dc_current_4.real = this->dc_current_4;
+ *(outbuffer + offset + 0) = (u_dc_current_4.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_dc_current_4.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_dc_current_4.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_dc_current_4.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->dc_current_4);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_1;
+ u_sensor_1.real = this->sensor_1;
+ *(outbuffer + offset + 0) = (u_sensor_1.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sensor_1.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sensor_1.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sensor_1.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sensor_1);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_2;
+ u_sensor_2.real = this->sensor_2;
+ *(outbuffer + offset + 0) = (u_sensor_2.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sensor_2.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sensor_2.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sensor_2.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sensor_2);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_3;
+ u_sensor_3.real = this->sensor_3;
+ *(outbuffer + offset + 0) = (u_sensor_3.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sensor_3.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sensor_3.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sensor_3.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sensor_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_4;
+ u_sensor_4.real = this->sensor_4;
+ *(outbuffer + offset + 0) = (u_sensor_4.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sensor_4.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sensor_4.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sensor_4.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sensor_4);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ 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);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_3;
+ u_encoder_3.base = 0;
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->encoder_3 = u_encoder_3.real;
+ offset += sizeof(this->encoder_3);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_encoder_4;
+ u_encoder_4.base = 0;
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->encoder_4 = u_encoder_4.real;
+ offset += sizeof(this->encoder_4);
+ 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_pwm_3;
+ u_pwm_3.base = 0;
+ u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->pwm_3 = u_pwm_3.real;
+ offset += sizeof(this->pwm_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_pwm_4;
+ u_pwm_4.base = 0;
+ u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->pwm_4 = u_pwm_4.real;
+ offset += sizeof(this->pwm_4);
+ 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 {
+ float real;
+ uint32_t base;
+ } u_dc_current_3;
+ u_dc_current_3.base = 0;
+ u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->dc_current_3 = u_dc_current_3.real;
+ offset += sizeof(this->dc_current_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_dc_current_4;
+ u_dc_current_4.base = 0;
+ u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->dc_current_4 = u_dc_current_4.real;
+ offset += sizeof(this->dc_current_4);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_1;
+ u_sensor_1.base = 0;
+ u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->sensor_1 = u_sensor_1.real;
+ offset += sizeof(this->sensor_1);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_2;
+ u_sensor_2.base = 0;
+ u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->sensor_2 = u_sensor_2.real;
+ offset += sizeof(this->sensor_2);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_3;
+ u_sensor_3.base = 0;
+ u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->sensor_3 = u_sensor_3.real;
+ offset += sizeof(this->sensor_3);
+ union {
+ float real;
+ uint32_t base;
+ } u_sensor_4;
+ u_sensor_4.base = 0;
+ u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->sensor_4 = u_sensor_4.real;
+ offset += sizeof(this->sensor_4);
+ return offset;
+ }
+
+ const char * getType(){ return "openlab/RobotFeedback"; };
+ const char * getMD5(){ return "f31bdce92ed3d88b204eacb08d719892"; };
+
+ };
+
+}
+#endif
--- /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