Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/PointField.h@3:2a3664dc6634, 2019-08-13 (annotated)

Committer:
Jeonghoon
Date:
Tue Aug 13 05:53:22 2019 +0000
Revision:
3:2a3664dc6634
with ROS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_PointField_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_PointField_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8
Jeonghoon 3:2a3664dc6634 9 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 10 {
Jeonghoon 3:2a3664dc6634 11
Jeonghoon 3:2a3664dc6634 12 class PointField : public ros::Msg
Jeonghoon 3:2a3664dc6634 13 {
Jeonghoon 3:2a3664dc6634 14 public:
Jeonghoon 3:2a3664dc6634 15 typedef const char* _name_type;
Jeonghoon 3:2a3664dc6634 16 _name_type name;
Jeonghoon 3:2a3664dc6634 17 typedef uint32_t _offset_type;
Jeonghoon 3:2a3664dc6634 18 _offset_type offset;
Jeonghoon 3:2a3664dc6634 19 typedef uint8_t _datatype_type;
Jeonghoon 3:2a3664dc6634 20 _datatype_type datatype;
Jeonghoon 3:2a3664dc6634 21 typedef uint32_t _count_type;
Jeonghoon 3:2a3664dc6634 22 _count_type count;
Jeonghoon 3:2a3664dc6634 23 enum { INT8 = 1 };
Jeonghoon 3:2a3664dc6634 24 enum { UINT8 = 2 };
Jeonghoon 3:2a3664dc6634 25 enum { INT16 = 3 };
Jeonghoon 3:2a3664dc6634 26 enum { UINT16 = 4 };
Jeonghoon 3:2a3664dc6634 27 enum { INT32 = 5 };
Jeonghoon 3:2a3664dc6634 28 enum { UINT32 = 6 };
Jeonghoon 3:2a3664dc6634 29 enum { FLOAT32 = 7 };
Jeonghoon 3:2a3664dc6634 30 enum { FLOAT64 = 8 };
Jeonghoon 3:2a3664dc6634 31
Jeonghoon 3:2a3664dc6634 32 PointField():
Jeonghoon 3:2a3664dc6634 33 name(""),
Jeonghoon 3:2a3664dc6634 34 offset(0),
Jeonghoon 3:2a3664dc6634 35 datatype(0),
Jeonghoon 3:2a3664dc6634 36 count(0)
Jeonghoon 3:2a3664dc6634 37 {
Jeonghoon 3:2a3664dc6634 38 }
Jeonghoon 3:2a3664dc6634 39
Jeonghoon 3:2a3664dc6634 40 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 41 {
Jeonghoon 3:2a3664dc6634 42 int offset = 0;
Jeonghoon 3:2a3664dc6634 43 uint32_t length_name = strlen(this->name);
Jeonghoon 3:2a3664dc6634 44 varToArr(outbuffer + offset, length_name);
Jeonghoon 3:2a3664dc6634 45 offset += 4;
Jeonghoon 3:2a3664dc6634 46 memcpy(outbuffer + offset, this->name, length_name);
Jeonghoon 3:2a3664dc6634 47 offset += length_name;
Jeonghoon 3:2a3664dc6634 48 *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 49 *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 50 *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 51 *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 52 offset += sizeof(this->offset);
Jeonghoon 3:2a3664dc6634 53 *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 54 offset += sizeof(this->datatype);
Jeonghoon 3:2a3664dc6634 55 *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 56 *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 57 *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 58 *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 59 offset += sizeof(this->count);
Jeonghoon 3:2a3664dc6634 60 return offset;
Jeonghoon 3:2a3664dc6634 61 }
Jeonghoon 3:2a3664dc6634 62
Jeonghoon 3:2a3664dc6634 63 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 64 {
Jeonghoon 3:2a3664dc6634 65 int offset = 0;
Jeonghoon 3:2a3664dc6634 66 uint32_t length_name;
Jeonghoon 3:2a3664dc6634 67 arrToVar(length_name, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 68 offset += 4;
Jeonghoon 3:2a3664dc6634 69 for(unsigned int k= offset; k< offset+length_name; ++k){
Jeonghoon 3:2a3664dc6634 70 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 71 }
Jeonghoon 3:2a3664dc6634 72 inbuffer[offset+length_name-1]=0;
Jeonghoon 3:2a3664dc6634 73 this->name = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 74 offset += length_name;
Jeonghoon 3:2a3664dc6634 75 this->offset = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 76 this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 77 this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 78 this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 79 offset += sizeof(this->offset);
Jeonghoon 3:2a3664dc6634 80 this->datatype = ((uint8_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 81 offset += sizeof(this->datatype);
Jeonghoon 3:2a3664dc6634 82 this->count = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 83 this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 84 this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 85 this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 86 offset += sizeof(this->count);
Jeonghoon 3:2a3664dc6634 87 return offset;
Jeonghoon 3:2a3664dc6634 88 }
Jeonghoon 3:2a3664dc6634 89
Jeonghoon 3:2a3664dc6634 90 const char * getType(){ return "sensor_msgs/PointField"; };
Jeonghoon 3:2a3664dc6634 91 const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
Jeonghoon 3:2a3664dc6634 92
Jeonghoon 3:2a3664dc6634 93 };
Jeonghoon 3:2a3664dc6634 94
Jeonghoon 3:2a3664dc6634 95 }
Jeonghoon 3:2a3664dc6634 96 #endif