bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
buildBytes(Header::DockInfraRed, byteStream);
buildBytes(length, byteStream);
buildBytes(data.docking[0], byteStream);
buildBytes(data.docking[1], byteStream);
buildBytes(data.docking[2], byteStream);
return true;
}
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
buildBytes((unsigned char)Header::Cliff, byteStream);
buildBytes(length, byteStream);
buildBytes(data.bottom[0], byteStream);
buildBytes(data.bottom[1], byteStream);
buildBytes(data.bottom[2], byteStream);
return true;
}
// methods
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
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)
{
buildBytes(Header::GpInput, byteStream);
buildBytes(length, byteStream);
buildBytes(data.digital_input, byteStream);
for (unsigned int i = 0; i < data.analog_input.size(); ++i)
{
buildBytes(data.analog_input[i], byteStream);
}
for (unsigned int i = 0; i < 3; ++i)
{
buildBytes(0x0000, byteStream); //dummy
}
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 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 CoreSensors::serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (!(byteStream.size() > 0))
{
//ROS_WARN_STREAM("kobuki_node: kobuki_default: serialise failed. empty byte stream.");
return false;
}
unsigned char length = 15;
buildBytes(Header::CoreSensors, byteStream);
buildBytes(length, byteStream);
buildBytes(data.time_stamp, byteStream); //2
buildBytes(data.bumper, byteStream); //1
buildBytes(data.wheel_drop, byteStream); //1
buildBytes(data.cliff, byteStream); //1
buildBytes(data.left_encoder, byteStream); //2
buildBytes(data.right_encoder, byteStream); //2
buildBytes(data.left_pwm, byteStream); //1
buildBytes(data.right_pwm, byteStream); //1
buildBytes(data.buttons, byteStream); //1
buildBytes(data.charger, byteStream); //1
buildBytes(data.battery, byteStream); //1
buildBytes(data.over_current, byteStream); //1
return true;
}
void VariableLengthInt::setValue(int value) {
mValue = value;
buildBytes();
}
void instantiate(int x) {
buildBytes(x);
}
