Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

visualization_msgs/InteractiveMarker.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_visualization_msgs_InteractiveMarker_h
garyservin 0:fd24f7ca9688 2 #define _ROS_visualization_msgs_InteractiveMarker_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Pose.h"
garyservin 0:fd24f7ca9688 10 #include "visualization_msgs/MenuEntry.h"
garyservin 0:fd24f7ca9688 11 #include "visualization_msgs/InteractiveMarkerControl.h"
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 namespace visualization_msgs
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15
garyservin 0:fd24f7ca9688 16 class InteractiveMarker : public ros::Msg
garyservin 0:fd24f7ca9688 17 {
garyservin 0:fd24f7ca9688 18 public:
garyservin 0:fd24f7ca9688 19 std_msgs::Header header;
garyservin 0:fd24f7ca9688 20 geometry_msgs::Pose pose;
garyservin 0:fd24f7ca9688 21 const char* name;
garyservin 0:fd24f7ca9688 22 const char* description;
garyservin 0:fd24f7ca9688 23 float scale;
garyservin 0:fd24f7ca9688 24 uint8_t menu_entries_length;
garyservin 0:fd24f7ca9688 25 visualization_msgs::MenuEntry st_menu_entries;
garyservin 0:fd24f7ca9688 26 visualization_msgs::MenuEntry * menu_entries;
garyservin 0:fd24f7ca9688 27 uint8_t controls_length;
garyservin 0:fd24f7ca9688 28 visualization_msgs::InteractiveMarkerControl st_controls;
garyservin 0:fd24f7ca9688 29 visualization_msgs::InteractiveMarkerControl * controls;
garyservin 0:fd24f7ca9688 30
garyservin 0:fd24f7ca9688 31 InteractiveMarker():
garyservin 0:fd24f7ca9688 32 header(),
garyservin 0:fd24f7ca9688 33 pose(),
garyservin 0:fd24f7ca9688 34 name(""),
garyservin 0:fd24f7ca9688 35 description(""),
garyservin 0:fd24f7ca9688 36 scale(0),
garyservin 0:fd24f7ca9688 37 menu_entries_length(0), menu_entries(NULL),
garyservin 0:fd24f7ca9688 38 controls_length(0), controls(NULL)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 }
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 int offset = 0;
garyservin 0:fd24f7ca9688 45 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 46 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 47 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 48 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 49 offset += 4;
garyservin 0:fd24f7ca9688 50 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 51 offset += length_name;
garyservin 0:fd24f7ca9688 52 uint32_t length_description = strlen(this->description);
garyservin 0:fd24f7ca9688 53 memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 54 offset += 4;
garyservin 0:fd24f7ca9688 55 memcpy(outbuffer + offset, this->description, length_description);
garyservin 0:fd24f7ca9688 56 offset += length_description;
garyservin 0:fd24f7ca9688 57 union {
garyservin 0:fd24f7ca9688 58 float real;
garyservin 0:fd24f7ca9688 59 uint32_t base;
garyservin 0:fd24f7ca9688 60 } u_scale;
garyservin 0:fd24f7ca9688 61 u_scale.real = this->scale;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 63 *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 66 offset += sizeof(this->scale);
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset++) = menu_entries_length;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 71 for( uint8_t i = 0; i < menu_entries_length; i++){
garyservin 0:fd24f7ca9688 72 offset += this->menu_entries[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 73 }
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset++) = controls_length;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 77 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 78 for( uint8_t i = 0; i < controls_length; i++){
garyservin 0:fd24f7ca9688 79 offset += this->controls[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 80 }
garyservin 0:fd24f7ca9688 81 return offset;
garyservin 0:fd24f7ca9688 82 }
garyservin 0:fd24f7ca9688 83
garyservin 0:fd24f7ca9688 84 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 85 {
garyservin 0:fd24f7ca9688 86 int offset = 0;
garyservin 0:fd24f7ca9688 87 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 88 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 89 uint32_t length_name;
garyservin 0:fd24f7ca9688 90 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 91 offset += 4;
garyservin 0:fd24f7ca9688 92 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 93 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 94 }
garyservin 0:fd24f7ca9688 95 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 96 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 97 offset += length_name;
garyservin 0:fd24f7ca9688 98 uint32_t length_description;
garyservin 0:fd24f7ca9688 99 memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 100 offset += 4;
garyservin 0:fd24f7ca9688 101 for(unsigned int k= offset; k< offset+length_description; ++k){
garyservin 0:fd24f7ca9688 102 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 103 }
garyservin 0:fd24f7ca9688 104 inbuffer[offset+length_description-1]=0;
garyservin 0:fd24f7ca9688 105 this->description = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 106 offset += length_description;
garyservin 0:fd24f7ca9688 107 union {
garyservin 0:fd24f7ca9688 108 float real;
garyservin 0:fd24f7ca9688 109 uint32_t base;
garyservin 0:fd24f7ca9688 110 } u_scale;
garyservin 0:fd24f7ca9688 111 u_scale.base = 0;
garyservin 0:fd24f7ca9688 112 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 113 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 114 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 115 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 116 this->scale = u_scale.real;
garyservin 0:fd24f7ca9688 117 offset += sizeof(this->scale);
garyservin 0:fd24f7ca9688 118 uint8_t menu_entries_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 119 if(menu_entries_lengthT > menu_entries_length)
garyservin 0:fd24f7ca9688 120 this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry));
garyservin 0:fd24f7ca9688 121 offset += 3;
garyservin 0:fd24f7ca9688 122 menu_entries_length = menu_entries_lengthT;
garyservin 0:fd24f7ca9688 123 for( uint8_t i = 0; i < menu_entries_length; i++){
garyservin 0:fd24f7ca9688 124 offset += this->st_menu_entries.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 125 memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry));
garyservin 0:fd24f7ca9688 126 }
garyservin 0:fd24f7ca9688 127 uint8_t controls_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 128 if(controls_lengthT > controls_length)
garyservin 0:fd24f7ca9688 129 this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl));
garyservin 0:fd24f7ca9688 130 offset += 3;
garyservin 0:fd24f7ca9688 131 controls_length = controls_lengthT;
garyservin 0:fd24f7ca9688 132 for( uint8_t i = 0; i < controls_length; i++){
garyservin 0:fd24f7ca9688 133 offset += this->st_controls.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 134 memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl));
garyservin 0:fd24f7ca9688 135 }
garyservin 0:fd24f7ca9688 136 return offset;
garyservin 0:fd24f7ca9688 137 }
garyservin 0:fd24f7ca9688 138
garyservin 0:fd24f7ca9688 139 const char * getType(){ return "visualization_msgs/InteractiveMarker"; };
garyservin 0:fd24f7ca9688 140 const char * getMD5(){ return "311bd5f6cd6a20820ac0ba84315f4e22"; };
garyservin 0:fd24f7ca9688 141
garyservin 0:fd24f7ca9688 142 };
garyservin 0:fd24f7ca9688 143
garyservin 0:fd24f7ca9688 144 }
garyservin 0:fd24f7ca9688 145 #endif