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Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/TimeReference.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_TimeReference_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_TimeReference_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 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9 #include "ros/time.h"
Jeonghoon 3:2a3664dc6634 10
Jeonghoon 3:2a3664dc6634 11 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 12 {
Jeonghoon 3:2a3664dc6634 13
Jeonghoon 3:2a3664dc6634 14 class TimeReference : public ros::Msg
Jeonghoon 3:2a3664dc6634 15 {
Jeonghoon 3:2a3664dc6634 16 public:
Jeonghoon 3:2a3664dc6634 17 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 18 _header_type header;
Jeonghoon 3:2a3664dc6634 19 typedef ros::Time _time_ref_type;
Jeonghoon 3:2a3664dc6634 20 _time_ref_type time_ref;
Jeonghoon 3:2a3664dc6634 21 typedef const char* _source_type;
Jeonghoon 3:2a3664dc6634 22 _source_type source;
Jeonghoon 3:2a3664dc6634 23
Jeonghoon 3:2a3664dc6634 24 TimeReference():
Jeonghoon 3:2a3664dc6634 25 header(),
Jeonghoon 3:2a3664dc6634 26 time_ref(),
Jeonghoon 3:2a3664dc6634 27 source("")
Jeonghoon 3:2a3664dc6634 28 {
Jeonghoon 3:2a3664dc6634 29 }
Jeonghoon 3:2a3664dc6634 30
Jeonghoon 3:2a3664dc6634 31 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 32 {
Jeonghoon 3:2a3664dc6634 33 int offset = 0;
Jeonghoon 3:2a3664dc6634 34 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 35 *(outbuffer + offset + 0) = (this->time_ref.sec >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 36 *(outbuffer + offset + 1) = (this->time_ref.sec >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 37 *(outbuffer + offset + 2) = (this->time_ref.sec >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 38 *(outbuffer + offset + 3) = (this->time_ref.sec >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 39 offset += sizeof(this->time_ref.sec);
Jeonghoon 3:2a3664dc6634 40 *(outbuffer + offset + 0) = (this->time_ref.nsec >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 41 *(outbuffer + offset + 1) = (this->time_ref.nsec >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 42 *(outbuffer + offset + 2) = (this->time_ref.nsec >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 43 *(outbuffer + offset + 3) = (this->time_ref.nsec >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 44 offset += sizeof(this->time_ref.nsec);
Jeonghoon 3:2a3664dc6634 45 uint32_t length_source = strlen(this->source);
Jeonghoon 3:2a3664dc6634 46 varToArr(outbuffer + offset, length_source);
Jeonghoon 3:2a3664dc6634 47 offset += 4;
Jeonghoon 3:2a3664dc6634 48 memcpy(outbuffer + offset, this->source, length_source);
Jeonghoon 3:2a3664dc6634 49 offset += length_source;
Jeonghoon 3:2a3664dc6634 50 return offset;
Jeonghoon 3:2a3664dc6634 51 }
Jeonghoon 3:2a3664dc6634 52
Jeonghoon 3:2a3664dc6634 53 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 54 {
Jeonghoon 3:2a3664dc6634 55 int offset = 0;
Jeonghoon 3:2a3664dc6634 56 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 57 this->time_ref.sec = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 58 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 59 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 60 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 61 offset += sizeof(this->time_ref.sec);
Jeonghoon 3:2a3664dc6634 62 this->time_ref.nsec = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 63 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 64 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 65 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 66 offset += sizeof(this->time_ref.nsec);
Jeonghoon 3:2a3664dc6634 67 uint32_t length_source;
Jeonghoon 3:2a3664dc6634 68 arrToVar(length_source, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 69 offset += 4;
Jeonghoon 3:2a3664dc6634 70 for(unsigned int k= offset; k< offset+length_source; ++k){
Jeonghoon 3:2a3664dc6634 71 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 72 }
Jeonghoon 3:2a3664dc6634 73 inbuffer[offset+length_source-1]=0;
Jeonghoon 3:2a3664dc6634 74 this->source = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 75 offset += length_source;
Jeonghoon 3:2a3664dc6634 76 return offset;
Jeonghoon 3:2a3664dc6634 77 }
Jeonghoon 3:2a3664dc6634 78
Jeonghoon 3:2a3664dc6634 79 const char * getType(){ return "sensor_msgs/TimeReference"; };
Jeonghoon 3:2a3664dc6634 80 const char * getMD5(){ return "fded64a0265108ba86c3d38fb11c0c16"; };
Jeonghoon 3:2a3664dc6634 81
Jeonghoon 3:2a3664dc6634 82 };
Jeonghoon 3:2a3664dc6634 83
Jeonghoon 3:2a3664dc6634 84 }
Jeonghoon 3:2a3664dc6634 85 #endif