IrSourceInfo.h
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00001 #ifndef _ROS_wiimote_IrSourceInfo_h
00002 #define _ROS_wiimote_IrSourceInfo_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace wiimote
00010 {
00011 
00012   class IrSourceInfo : public ros::Msg
00013   {
00014     public:
00015       float x;
00016       float y;
00017       int64_t ir_size;
00018 
00019     virtual int serialize(unsigned char *outbuffer) const
00020     {
00021       int offset = 0;
00022       int32_t * val_x = (int32_t *) &(this->x);
00023       int32_t exp_x = (((*val_x)>>23)&255);
00024       if(exp_x != 0)
00025         exp_x += 1023-127;
00026       int32_t sig_x = *val_x;
00027       *(outbuffer + offset++) = 0;
00028       *(outbuffer + offset++) = 0;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = (sig_x<<5) & 0xff;
00031       *(outbuffer + offset++) = (sig_x>>3) & 0xff;
00032       *(outbuffer + offset++) = (sig_x>>11) & 0xff;
00033       *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
00034       *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
00035       if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
00036       int32_t * val_y = (int32_t *) &(this->y);
00037       int32_t exp_y = (((*val_y)>>23)&255);
00038       if(exp_y != 0)
00039         exp_y += 1023-127;
00040       int32_t sig_y = *val_y;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = (sig_y<<5) & 0xff;
00045       *(outbuffer + offset++) = (sig_y>>3) & 0xff;
00046       *(outbuffer + offset++) = (sig_y>>11) & 0xff;
00047       *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
00048       *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
00049       if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
00050       union {
00051         int64_t real;
00052         uint64_t base;
00053       } u_ir_size;
00054       u_ir_size.real = this->ir_size;
00055       *(outbuffer + offset + 0) = (u_ir_size.base >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (u_ir_size.base >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (u_ir_size.base >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (u_ir_size.base >> (8 * 3)) & 0xFF;
00059       *(outbuffer + offset + 4) = (u_ir_size.base >> (8 * 4)) & 0xFF;
00060       *(outbuffer + offset + 5) = (u_ir_size.base >> (8 * 5)) & 0xFF;
00061       *(outbuffer + offset + 6) = (u_ir_size.base >> (8 * 6)) & 0xFF;
00062       *(outbuffer + offset + 7) = (u_ir_size.base >> (8 * 7)) & 0xFF;
00063       offset += sizeof(this->ir_size);
00064       return offset;
00065     }
00066 
00067     virtual int deserialize(unsigned char *inbuffer)
00068     {
00069       int offset = 0;
00070       uint32_t * val_x = (uint32_t*) &(this->x);
00071       offset += 3;
00072       *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00073       *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00074       *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00075       *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00076       uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00077       exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00078       if(exp_x !=0)
00079         *val_x |= ((exp_x)-1023+127)<<23;
00080       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
00081       uint32_t * val_y = (uint32_t*) &(this->y);
00082       offset += 3;
00083       *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00084       *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00085       *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00086       *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00087       uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00088       exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00089       if(exp_y !=0)
00090         *val_y |= ((exp_y)-1023+127)<<23;
00091       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
00092       union {
00093         int64_t real;
00094         uint64_t base;
00095       } u_ir_size;
00096       u_ir_size.base = 0;
00097       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00098       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00099       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00100       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00101       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00102       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00103       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00104       u_ir_size.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00105       this->ir_size = u_ir_size.real;
00106       offset += sizeof(this->ir_size);
00107      return offset;
00108     }
00109 
00110     const char * getType(){ return "wiimote/IrSourceInfo"; };
00111     const char * getMD5(){ return "95274ca88b9f008b99984b9a61d2772e"; };
00112 
00113   };
00114 
00115 }
00116 #endif


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22