Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

visualization_msgs/InteractiveMarkerControl.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_InteractiveMarkerControl_h
garyservin 0:fd24f7ca9688 2 #define _ROS_visualization_msgs_InteractiveMarkerControl_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 "geometry_msgs/Quaternion.h"
garyservin 0:fd24f7ca9688 9 #include "visualization_msgs/Marker.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace visualization_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class InteractiveMarkerControl : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* name;
garyservin 0:fd24f7ca9688 18 geometry_msgs::Quaternion orientation;
garyservin 0:fd24f7ca9688 19 uint8_t orientation_mode;
garyservin 0:fd24f7ca9688 20 uint8_t interaction_mode;
garyservin 0:fd24f7ca9688 21 bool always_visible;
garyservin 0:fd24f7ca9688 22 uint8_t markers_length;
garyservin 0:fd24f7ca9688 23 visualization_msgs::Marker st_markers;
garyservin 0:fd24f7ca9688 24 visualization_msgs::Marker * markers;
garyservin 0:fd24f7ca9688 25 bool independent_marker_orientation;
garyservin 0:fd24f7ca9688 26 const char* description;
garyservin 0:fd24f7ca9688 27 enum { INHERIT = 0 };
garyservin 0:fd24f7ca9688 28 enum { FIXED = 1 };
garyservin 0:fd24f7ca9688 29 enum { VIEW_FACING = 2 };
garyservin 0:fd24f7ca9688 30 enum { NONE = 0 };
garyservin 0:fd24f7ca9688 31 enum { MENU = 1 };
garyservin 0:fd24f7ca9688 32 enum { BUTTON = 2 };
garyservin 0:fd24f7ca9688 33 enum { MOVE_AXIS = 3 };
garyservin 0:fd24f7ca9688 34 enum { MOVE_PLANE = 4 };
garyservin 0:fd24f7ca9688 35 enum { ROTATE_AXIS = 5 };
garyservin 0:fd24f7ca9688 36 enum { MOVE_ROTATE = 6 };
garyservin 0:fd24f7ca9688 37 enum { MOVE_3D = 7 };
garyservin 0:fd24f7ca9688 38 enum { ROTATE_3D = 8 };
garyservin 0:fd24f7ca9688 39 enum { MOVE_ROTATE_3D = 9 };
garyservin 0:fd24f7ca9688 40
garyservin 0:fd24f7ca9688 41 InteractiveMarkerControl():
garyservin 0:fd24f7ca9688 42 name(""),
garyservin 0:fd24f7ca9688 43 orientation(),
garyservin 0:fd24f7ca9688 44 orientation_mode(0),
garyservin 0:fd24f7ca9688 45 interaction_mode(0),
garyservin 0:fd24f7ca9688 46 always_visible(0),
garyservin 0:fd24f7ca9688 47 markers_length(0), markers(NULL),
garyservin 0:fd24f7ca9688 48 independent_marker_orientation(0),
garyservin 0:fd24f7ca9688 49 description("")
garyservin 0:fd24f7ca9688 50 {
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 54 {
garyservin 0:fd24f7ca9688 55 int offset = 0;
garyservin 0:fd24f7ca9688 56 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 57 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 58 offset += 4;
garyservin 0:fd24f7ca9688 59 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 60 offset += length_name;
garyservin 0:fd24f7ca9688 61 offset += this->orientation.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->orientation_mode);
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 65 offset += sizeof(this->interaction_mode);
garyservin 0:fd24f7ca9688 66 union {
garyservin 0:fd24f7ca9688 67 bool real;
garyservin 0:fd24f7ca9688 68 uint8_t base;
garyservin 0:fd24f7ca9688 69 } u_always_visible;
garyservin 0:fd24f7ca9688 70 u_always_visible.real = this->always_visible;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 72 offset += sizeof(this->always_visible);
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset++) = markers_length;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 77 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 78 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 79 }
garyservin 0:fd24f7ca9688 80 union {
garyservin 0:fd24f7ca9688 81 bool real;
garyservin 0:fd24f7ca9688 82 uint8_t base;
garyservin 0:fd24f7ca9688 83 } u_independent_marker_orientation;
garyservin 0:fd24f7ca9688 84 u_independent_marker_orientation.real = this->independent_marker_orientation;
garyservin 0:fd24f7ca9688 85 *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 86 offset += sizeof(this->independent_marker_orientation);
garyservin 0:fd24f7ca9688 87 uint32_t length_description = strlen(this->description);
garyservin 0:fd24f7ca9688 88 memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 89 offset += 4;
garyservin 0:fd24f7ca9688 90 memcpy(outbuffer + offset, this->description, length_description);
garyservin 0:fd24f7ca9688 91 offset += length_description;
garyservin 0:fd24f7ca9688 92 return offset;
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 96 {
garyservin 0:fd24f7ca9688 97 int offset = 0;
garyservin 0:fd24f7ca9688 98 uint32_t length_name;
garyservin 0:fd24f7ca9688 99 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 100 offset += 4;
garyservin 0:fd24f7ca9688 101 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 102 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 103 }
garyservin 0:fd24f7ca9688 104 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 105 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 106 offset += length_name;
garyservin 0:fd24f7ca9688 107 offset += this->orientation.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 108 this->orientation_mode = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 109 offset += sizeof(this->orientation_mode);
garyservin 0:fd24f7ca9688 110 this->interaction_mode = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 111 offset += sizeof(this->interaction_mode);
garyservin 0:fd24f7ca9688 112 union {
garyservin 0:fd24f7ca9688 113 bool real;
garyservin 0:fd24f7ca9688 114 uint8_t base;
garyservin 0:fd24f7ca9688 115 } u_always_visible;
garyservin 0:fd24f7ca9688 116 u_always_visible.base = 0;
garyservin 0:fd24f7ca9688 117 u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 118 this->always_visible = u_always_visible.real;
garyservin 0:fd24f7ca9688 119 offset += sizeof(this->always_visible);
garyservin 0:fd24f7ca9688 120 uint8_t markers_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 121 if(markers_lengthT > markers_length)
garyservin 0:fd24f7ca9688 122 this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
garyservin 0:fd24f7ca9688 123 offset += 3;
garyservin 0:fd24f7ca9688 124 markers_length = markers_lengthT;
garyservin 0:fd24f7ca9688 125 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 126 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 127 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
garyservin 0:fd24f7ca9688 128 }
garyservin 0:fd24f7ca9688 129 union {
garyservin 0:fd24f7ca9688 130 bool real;
garyservin 0:fd24f7ca9688 131 uint8_t base;
garyservin 0:fd24f7ca9688 132 } u_independent_marker_orientation;
garyservin 0:fd24f7ca9688 133 u_independent_marker_orientation.base = 0;
garyservin 0:fd24f7ca9688 134 u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 135 this->independent_marker_orientation = u_independent_marker_orientation.real;
garyservin 0:fd24f7ca9688 136 offset += sizeof(this->independent_marker_orientation);
garyservin 0:fd24f7ca9688 137 uint32_t length_description;
garyservin 0:fd24f7ca9688 138 memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 139 offset += 4;
garyservin 0:fd24f7ca9688 140 for(unsigned int k= offset; k< offset+length_description; ++k){
garyservin 0:fd24f7ca9688 141 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 142 }
garyservin 0:fd24f7ca9688 143 inbuffer[offset+length_description-1]=0;
garyservin 0:fd24f7ca9688 144 this->description = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 145 offset += length_description;
garyservin 0:fd24f7ca9688 146 return offset;
garyservin 0:fd24f7ca9688 147 }
garyservin 0:fd24f7ca9688 148
garyservin 0:fd24f7ca9688 149 const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
garyservin 0:fd24f7ca9688 150 const char * getMD5(){ return "e3a939c98cdd4f709d8e1dec2a9c3f37"; };
garyservin 0:fd24f7ca9688 151
garyservin 0:fd24f7ca9688 152 };
garyservin 0:fd24f7ca9688 153
garyservin 0:fd24f7ca9688 154 }
garyservin 0:fd24f7ca9688 155 #endif