Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

visualization_msgs/InteractiveMarkerUpdate.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_InteractiveMarkerUpdate_h
garyservin 0:fd24f7ca9688 2 #define _ROS_visualization_msgs_InteractiveMarkerUpdate_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 #include "visualization_msgs/InteractiveMarkerPose.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 InteractiveMarkerUpdate : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* server_id;
garyservin 0:fd24f7ca9688 18 uint64_t seq_num;
garyservin 0:fd24f7ca9688 19 uint8_t type;
garyservin 0:fd24f7ca9688 20 uint8_t markers_length;
garyservin 0:fd24f7ca9688 21 visualization_msgs::InteractiveMarker st_markers;
garyservin 0:fd24f7ca9688 22 visualization_msgs::InteractiveMarker * markers;
garyservin 0:fd24f7ca9688 23 uint8_t poses_length;
garyservin 0:fd24f7ca9688 24 visualization_msgs::InteractiveMarkerPose st_poses;
garyservin 0:fd24f7ca9688 25 visualization_msgs::InteractiveMarkerPose * poses;
garyservin 0:fd24f7ca9688 26 uint8_t erases_length;
garyservin 0:fd24f7ca9688 27 char* st_erases;
garyservin 0:fd24f7ca9688 28 char* * erases;
garyservin 0:fd24f7ca9688 29 enum { KEEP_ALIVE = 0 };
garyservin 0:fd24f7ca9688 30 enum { UPDATE = 1 };
garyservin 0:fd24f7ca9688 31
garyservin 0:fd24f7ca9688 32 InteractiveMarkerUpdate():
garyservin 0:fd24f7ca9688 33 server_id(""),
garyservin 0:fd24f7ca9688 34 seq_num(0),
garyservin 0:fd24f7ca9688 35 type(0),
garyservin 0:fd24f7ca9688 36 markers_length(0), markers(NULL),
garyservin 0:fd24f7ca9688 37 poses_length(0), poses(NULL),
garyservin 0:fd24f7ca9688 38 erases_length(0), erases(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 uint32_t length_server_id = strlen(this->server_id);
garyservin 0:fd24f7ca9688 46 memcpy(outbuffer + offset, &length_server_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 47 offset += 4;
garyservin 0:fd24f7ca9688 48 memcpy(outbuffer + offset, this->server_id, length_server_id);
garyservin 0:fd24f7ca9688 49 offset += length_server_id;
garyservin 0:fd24f7ca9688 50 union {
garyservin 0:fd24f7ca9688 51 uint64_t real;
garyservin 0:fd24f7ca9688 52 uint32_t base;
garyservin 0:fd24f7ca9688 53 } u_seq_num;
garyservin 0:fd24f7ca9688 54 u_seq_num.real = this->seq_num;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 59 offset += sizeof(this->seq_num);
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 61 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset++) = markers_length;
garyservin 0:fd24f7ca9688 63 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 66 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 67 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset++) = poses_length;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 73 for( uint8_t i = 0; i < poses_length; i++){
garyservin 0:fd24f7ca9688 74 offset += this->poses[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset++) = erases_length;
garyservin 0:fd24f7ca9688 77 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 78 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 80 for( uint8_t i = 0; i < erases_length; i++){
garyservin 0:fd24f7ca9688 81 uint32_t length_erasesi = strlen(this->erases[i]);
garyservin 0:fd24f7ca9688 82 memcpy(outbuffer + offset, &length_erasesi, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 83 offset += 4;
garyservin 0:fd24f7ca9688 84 memcpy(outbuffer + offset, this->erases[i], length_erasesi);
garyservin 0:fd24f7ca9688 85 offset += length_erasesi;
garyservin 0:fd24f7ca9688 86 }
garyservin 0:fd24f7ca9688 87 return offset;
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 91 {
garyservin 0:fd24f7ca9688 92 int offset = 0;
garyservin 0:fd24f7ca9688 93 uint32_t length_server_id;
garyservin 0:fd24f7ca9688 94 memcpy(&length_server_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 95 offset += 4;
garyservin 0:fd24f7ca9688 96 for(unsigned int k= offset; k< offset+length_server_id; ++k){
garyservin 0:fd24f7ca9688 97 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 98 }
garyservin 0:fd24f7ca9688 99 inbuffer[offset+length_server_id-1]=0;
garyservin 0:fd24f7ca9688 100 this->server_id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 101 offset += length_server_id;
garyservin 0:fd24f7ca9688 102 union {
garyservin 0:fd24f7ca9688 103 uint64_t real;
garyservin 0:fd24f7ca9688 104 uint32_t base;
garyservin 0:fd24f7ca9688 105 } u_seq_num;
garyservin 0:fd24f7ca9688 106 u_seq_num.base = 0;
garyservin 0:fd24f7ca9688 107 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 108 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 109 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 110 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 111 this->seq_num = u_seq_num.real;
garyservin 0:fd24f7ca9688 112 offset += sizeof(this->seq_num);
garyservin 0:fd24f7ca9688 113 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 114 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 115 uint8_t markers_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 116 if(markers_lengthT > markers_length)
garyservin 0:fd24f7ca9688 117 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:fd24f7ca9688 118 offset += 3;
garyservin 0:fd24f7ca9688 119 markers_length = markers_lengthT;
garyservin 0:fd24f7ca9688 120 for( uint8_t i = 0; i < markers_length; i++){
garyservin 0:fd24f7ca9688 121 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 122 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:fd24f7ca9688 123 }
garyservin 0:fd24f7ca9688 124 uint8_t poses_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 125 if(poses_lengthT > poses_length)
garyservin 0:fd24f7ca9688 126 this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
garyservin 0:fd24f7ca9688 127 offset += 3;
garyservin 0:fd24f7ca9688 128 poses_length = poses_lengthT;
garyservin 0:fd24f7ca9688 129 for( uint8_t i = 0; i < poses_length; i++){
garyservin 0:fd24f7ca9688 130 offset += this->st_poses.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 131 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
garyservin 0:fd24f7ca9688 132 }
garyservin 0:fd24f7ca9688 133 uint8_t erases_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 134 if(erases_lengthT > erases_length)
garyservin 0:fd24f7ca9688 135 this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 136 offset += 3;
garyservin 0:fd24f7ca9688 137 erases_length = erases_lengthT;
garyservin 0:fd24f7ca9688 138 for( uint8_t i = 0; i < erases_length; i++){
garyservin 0:fd24f7ca9688 139 uint32_t length_st_erases;
garyservin 0:fd24f7ca9688 140 memcpy(&length_st_erases, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 141 offset += 4;
garyservin 0:fd24f7ca9688 142 for(unsigned int k= offset; k< offset+length_st_erases; ++k){
garyservin 0:fd24f7ca9688 143 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 144 }
garyservin 0:fd24f7ca9688 145 inbuffer[offset+length_st_erases-1]=0;
garyservin 0:fd24f7ca9688 146 this->st_erases = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 147 offset += length_st_erases;
garyservin 0:fd24f7ca9688 148 memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
garyservin 0:fd24f7ca9688 149 }
garyservin 0:fd24f7ca9688 150 return offset;
garyservin 0:fd24f7ca9688 151 }
garyservin 0:fd24f7ca9688 152
garyservin 0:fd24f7ca9688 153 const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
garyservin 0:fd24f7ca9688 154 const char * getMD5(){ return "83e22f99d3b31fde725e0a338200e036"; };
garyservin 0:fd24f7ca9688 155
garyservin 0:fd24f7ca9688 156 };
garyservin 0:fd24f7ca9688 157
garyservin 0:fd24f7ca9688 158 }
garyservin 0:fd24f7ca9688 159 #endif