Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

visualization_msgs/InteractiveMarkerInit.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_InteractiveMarkerInit_h
garyservin 0:fd24f7ca9688 2 #define _ROS_visualization_msgs_InteractiveMarkerInit_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 "visualization_msgs/InteractiveMarker.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace visualization_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class InteractiveMarkerInit : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 const char* server_id;
garyservin 0:fd24f7ca9688 17 uint64_t seq_num;
garyservin 0:fd24f7ca9688 18 uint8_t markers_length;
garyservin 0:fd24f7ca9688 19 visualization_msgs::InteractiveMarker st_markers;
garyservin 0:fd24f7ca9688 20 visualization_msgs::InteractiveMarker * markers;
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 InteractiveMarkerInit():
garyservin 0:fd24f7ca9688 23 server_id(""),
garyservin 0:fd24f7ca9688 24 seq_num(0),
garyservin 0:fd24f7ca9688 25 markers_length(0), markers(NULL)
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 }
garyservin 0:fd24f7ca9688 28
garyservin 0:fd24f7ca9688 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 int offset = 0;
garyservin 0:fd24f7ca9688 32 uint32_t length_server_id = strlen(this->server_id);
garyservin 0:fd24f7ca9688 33 memcpy(outbuffer + offset, &length_server_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 34 offset += 4;
garyservin 0:fd24f7ca9688 35 memcpy(outbuffer + offset, this->server_id, length_server_id);
garyservin 0:fd24f7ca9688 36 offset += length_server_id;
garyservin 0:fd24f7ca9688 37 union {
garyservin 0:fd24f7ca9688 38 uint64_t real;
garyservin 0:fd24f7ca9688 39 uint32_t base;
garyservin 0:fd24f7ca9688 40 } u_seq_num;
garyservin 0:fd24f7ca9688 41 u_seq_num.real = this->seq_num;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 46 offset += sizeof(this->seq_num);
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset++) = markers_length;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 51 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 52 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54 return offset;
garyservin 0:fd24f7ca9688 55 }
garyservin 0:fd24f7ca9688 56
garyservin 0:fd24f7ca9688 57 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 58 {
garyservin 0:fd24f7ca9688 59 int offset = 0;
garyservin 0:fd24f7ca9688 60 uint32_t length_server_id;
garyservin 0:fd24f7ca9688 61 memcpy(&length_server_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 62 offset += 4;
garyservin 0:fd24f7ca9688 63 for(unsigned int k= offset; k< offset+length_server_id; ++k){
garyservin 0:fd24f7ca9688 64 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 65 }
garyservin 0:fd24f7ca9688 66 inbuffer[offset+length_server_id-1]=0;
garyservin 0:fd24f7ca9688 67 this->server_id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 68 offset += length_server_id;
garyservin 0:fd24f7ca9688 69 union {
garyservin 0:fd24f7ca9688 70 uint64_t real;
garyservin 0:fd24f7ca9688 71 uint32_t base;
garyservin 0:fd24f7ca9688 72 } u_seq_num;
garyservin 0:fd24f7ca9688 73 u_seq_num.base = 0;
garyservin 0:fd24f7ca9688 74 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 75 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 76 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 77 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 78 this->seq_num = u_seq_num.real;
garyservin 0:fd24f7ca9688 79 offset += sizeof(this->seq_num);
garyservin 0:fd24f7ca9688 80 uint8_t markers_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 81 if(markers_lengthT > markers_length)
garyservin 0:fd24f7ca9688 82 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:fd24f7ca9688 83 offset += 3;
garyservin 0:fd24f7ca9688 84 markers_length = markers_lengthT;
garyservin 0:fd24f7ca9688 85 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 86 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 87 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89 return offset;
garyservin 0:fd24f7ca9688 90 }
garyservin 0:fd24f7ca9688 91
garyservin 0:fd24f7ca9688 92 const char * getType(){ return "visualization_msgs/InteractiveMarkerInit"; };
garyservin 0:fd24f7ca9688 93 const char * getMD5(){ return "aa2f1dcea79533d1710675195653028d"; };
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 };
garyservin 0:fd24f7ca9688 96
garyservin 0:fd24f7ca9688 97 }
garyservin 0:fd24f7ca9688 98 #endif