Merge pull request #9 from mcgill-robotics/PowerBoardRos

update power board embedded code

Author: JPGC04

Power/lib/ros_lib/auv_msgs/DeadReckonReport.h

@@ -12,19 +12,19 @@ namespace auv_msgs
   class DeadReckonReport : public ros::Msg
   {
     public:
-      typedef double _x_type;
+      typedef float _x_type;
       _x_type x;
-      typedef double _y_type;
+      typedef float _y_type;
       _y_type y;
-      typedef double _z_type;
+      typedef float _z_type;
       _z_type z;
-      typedef double _roll_type;
+      typedef float _roll_type;
       _roll_type roll;
-      typedef double _pitch_type;
+      typedef float _pitch_type;
       _pitch_type pitch;
-      typedef double _yaw_type;
+      typedef float _yaw_type;
       _yaw_type yaw;
-      typedef double _std_type;
+      typedef float _std_type;
       _std_type std;
       typedef bool _status_type;
       _status_type status;
@@ -44,104 +44,13 @@ namespace auv_msgs
     virtual int serialize(unsigned char *outbuffer) const override
     {
       int offset = 0;
-      union {
-        double real;
-        uint64_t base;
-      } u_x;
-      u_x.real = this->x;
-      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->x);
-      union {
-        double real;
-        uint64_t base;
-      } u_y;
-      u_y.real = this->y;
-      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->y);
-      union {
-        double real;
-        uint64_t base;
-      } u_z;
-      u_z.real = this->z;
-      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->z);
-      union {
-        double real;
-        uint64_t base;
-      } u_roll;
-      u_roll.real = this->roll;
-      *(outbuffer + offset + 0) = (u_roll.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_roll.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_roll.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_roll.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_roll.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_roll.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_roll.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_roll.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->roll);
-      union {
-        double real;
-        uint64_t base;
-      } u_pitch;
-      u_pitch.real = this->pitch;
-      *(outbuffer + offset + 0) = (u_pitch.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_pitch.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_pitch.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_pitch.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_pitch.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_pitch.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_pitch.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_pitch.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->pitch);
-      union {
-        double real;
-        uint64_t base;
-      } u_yaw;
-      u_yaw.real = this->yaw;
-      *(outbuffer + offset + 0) = (u_yaw.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_yaw.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_yaw.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_yaw.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_yaw.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_yaw.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_yaw.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_yaw.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->yaw);
-      union {
-        double real;
-        uint64_t base;
-      } u_std;
-      u_std.real = this->std;
-      *(outbuffer + offset + 0) = (u_std.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_std.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_std.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_std.base >> (8 * 3)) & 0xFF;
-      *(outbuffer + offset + 4) = (u_std.base >> (8 * 4)) & 0xFF;
-      *(outbuffer + offset + 5) = (u_std.base >> (8 * 5)) & 0xFF;
-      *(outbuffer + offset + 6) = (u_std.base >> (8 * 6)) & 0xFF;
-      *(outbuffer + offset + 7) = (u_std.base >> (8 * 7)) & 0xFF;
-      offset += sizeof(this->std);
+      offset += serializeAvrFloat64(outbuffer + offset, this->x);
+      offset += serializeAvrFloat64(outbuffer + offset, this->y);
+      offset += serializeAvrFloat64(outbuffer + offset, this->z);
+      offset += serializeAvrFloat64(outbuffer + offset, this->roll);
+      offset += serializeAvrFloat64(outbuffer + offset, this->pitch);
+      offset += serializeAvrFloat64(outbuffer + offset, this->yaw);
+      offset += serializeAvrFloat64(outbuffer + offset, this->std);
       union {
         bool real;
         uint8_t base;
@@ -155,111 +64,13 @@ namespace auv_msgs
     virtual int deserialize(unsigned char *inbuffer) override
     {
       int offset = 0;
-      union {
-        double real;
-        uint64_t base;
-      } u_x;
-      u_x.base = 0;
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->x = u_x.real;
-      offset += sizeof(this->x);
-      union {
-        double real;
-        uint64_t base;
-      } u_y;
-      u_y.base = 0;
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->y = u_y.real;
-      offset += sizeof(this->y);
-      union {
-        double real;
-        uint64_t base;
-      } u_z;
-      u_z.base = 0;
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->z = u_z.real;
-      offset += sizeof(this->z);
-      union {
-        double real;
-        uint64_t base;
-      } u_roll;
-      u_roll.base = 0;
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_roll.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->roll = u_roll.real;
-      offset += sizeof(this->roll);
-      union {
-        double real;
-        uint64_t base;
-      } u_pitch;
-      u_pitch.base = 0;
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_pitch.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->pitch = u_pitch.real;
-      offset += sizeof(this->pitch);
-      union {
-        double real;
-        uint64_t base;
-      } u_yaw;
-      u_yaw.base = 0;
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_yaw.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->yaw = u_yaw.real;
-      offset += sizeof(this->yaw);
-      union {
-        double real;
-        uint64_t base;
-      } u_std;
-      u_std.base = 0;
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
-      u_std.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
-      this->std = u_std.real;
-      offset += sizeof(this->std);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->x));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->y));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->z));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->roll));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->pitch));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->yaw));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->std));
       union {
         bool real;
         uint8_t base;