bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (byteStream.size() < length+2)
{
//std::cout << "kobuki_node: kobuki_inertia: deserialise failed. not enough byte stream." << std::endl;
return false;
}
unsigned char header_id, length_packed;
buildVariable(header_id, byteStream);
buildVariable(length_packed, byteStream);
if( header_id != Header::GpInput ) return false;
if( length_packed != length ) return false;
buildVariable(data.digital_input, byteStream);
//for (unsigned int i = 0; i < data.analog_input.size(); ++i)
// It's actually sending seven 16-bit variables.
// 0-3 : the analog pin inputs
// 4 : ???
// 5-6 : 0
for (unsigned int i = 0; i < 4; ++i)
{
buildVariable(data.analog_input[i], byteStream);
}
for (unsigned int i = 0; i < 3; ++i) {
uint16_t dummy;
buildVariable(dummy, byteStream);
}
//showMe();
return constrain();
}
bool CoreSensors::deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: kobuki_default: deserialise failed. empty byte stream.");
return false;
}
unsigned char header_id, length;
buildVariable(header_id, byteStream);
buildVariable(length, byteStream);
buildVariable(data.time_stamp, byteStream);
buildVariable(data.bumper, byteStream);
buildVariable(data.wheel_drop, byteStream);
buildVariable(data.cliff, byteStream);
buildVariable(data.left_encoder, byteStream);
buildVariable(data.right_encoder, byteStream);
buildVariable(data.left_pwm, byteStream);
buildVariable(data.right_pwm, byteStream);
buildVariable(data.buttons, byteStream);
buildVariable(data.charger, byteStream);
buildVariable(data.battery, byteStream);
buildVariable(data.over_current, byteStream);
return true;
}
// methods
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
printf("kobuki_node: kobuki_udid: serialise failed. empty byte stream.");
return false;
}
unsigned char length = 12;
buildBytes(Header::UniqueDeviceID, byteStream);
buildBytes(length, byteStream);
buildBytes(data.udid0, byteStream);
buildBytes(data.udid1, byteStream);
buildBytes(data.udid2, byteStream);
return true;
}
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
printf("kobuki_node: kobuki_cliff: serialise failed. empty byte stream.");
return false;
}
unsigned char length = 6;
buildBytes(Header::Cliff, byteStream);
buildBytes(length, byteStream);
buildBytes(data.bottom[0], byteStream);
buildBytes(data.bottom[1], byteStream);
buildBytes(data.bottom[2], byteStream);
return true;
}
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: three_axis_gyro: serialise failed. empty byte stream.");
return false;
}
unsigned char length = 2 + 2 * data.followed_data_length;
buildBytes(Header::ThreeAxisGyro, byteStream);
buildBytes(length, byteStream);
buildBytes(data.frame_id, byteStream);
buildBytes(data.followed_data_length, byteStream);
for (unsigned int i=0; i<data.followed_data_length; i++)
buildBytes(data.data[i], byteStream);
return true;
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
printf("kobuki_node: kobuki_udid: deserialise failed. empty byte stream.");
return false;
}
unsigned char header_id, length;
buildVariable(header_id, byteStream);
buildVariable(length, byteStream);
buildVariable(data.udid0, byteStream);
buildVariable(data.udid1, byteStream);
buildVariable(data.udid2, byteStream);
//showMe();
return constrain();
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: three_axis_gyro: deserialise failed. empty byte stream.");
return false;
}
unsigned char header_id, length;
buildVariable(header_id, byteStream);
buildVariable(length, byteStream);
buildVariable(data.frame_id, byteStream);
buildVariable(data.followed_data_length, byteStream);
for (unsigned int i=0; i<data.followed_data_length; i++)
buildVariable(data.data[i], byteStream);
return true;
}
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: kobuki_inertia: serialise failed. empty byte stream.");
return false;
}
unsigned char length = 7;
buildBytes(Header::Inertia, byteStream);
buildBytes(length, byteStream);
buildBytes(data.angle, byteStream);
buildBytes(data.angle_rate, byteStream);
buildBytes(data.acc[0], byteStream);
buildBytes(data.acc[1], byteStream);
buildBytes(data.acc[2], byteStream);
return true;
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: kobuki_inertia: deserialise failed. empty byte stream.");
return false;
}
unsigned char header_id, length;
buildVariable(header_id, byteStream);
buildVariable(length, byteStream);
buildVariable(data.angle, byteStream);
buildVariable(data.angle_rate, byteStream);
buildVariable(data.acc[0], byteStream);
buildVariable(data.acc[1], byteStream);
buildVariable(data.acc[2], byteStream);
return true;
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (byteStream.size() < length+2)
{
//std::cout << "kobuki_node: kobuki_cliff: deserialise failed. not enough byte stream." << std::endl;
return false;
}
unsigned char header_id, length_packed;
buildVariable(header_id, byteStream);
buildVariable(length_packed, byteStream);
if( header_id != Header::Cliff ) return false;
if( length_packed != length ) return false;
buildVariable(data.bottom[0], byteStream);
buildVariable(data.bottom[1], byteStream);
buildVariable(data.bottom[2], byteStream);
//showMe();
return constrain();
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (byteStream.size() < length+2)
{
//std::cout << "kobuki_node: kobuki_udid: deserialise failed. not enough byte stream." << std::endl;
return false;
}
unsigned char header_id, length_packed;
buildVariable(header_id, byteStream);
buildVariable(length_packed, byteStream);
if( header_id != Header::UniqueDeviceID ) return false;
if( length_packed != length ) return false;
buildVariable(data.udid0, byteStream);
buildVariable(data.udid1, byteStream);
buildVariable(data.udid2, byteStream);
//showMe();
return constrain();
}