Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

opencv_apps/CircleArray.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_opencv_apps_CircleArray_h
garyservin 0:fd24f7ca9688 2 #define _ROS_opencv_apps_CircleArray_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 "opencv_apps/Circle.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace opencv_apps
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class CircleArray : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 uint8_t circles_length;
garyservin 0:fd24f7ca9688 17 opencv_apps::Circle st_circles;
garyservin 0:fd24f7ca9688 18 opencv_apps::Circle * circles;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 CircleArray():
garyservin 0:fd24f7ca9688 21 circles_length(0), circles(NULL)
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 }
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 int offset = 0;
garyservin 0:fd24f7ca9688 28 *(outbuffer + offset++) = circles_length;
garyservin 0:fd24f7ca9688 29 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 30 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 32 for( uint8_t i = 0; i < circles_length; i++){
garyservin 0:fd24f7ca9688 33 offset += this->circles[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 34 }
garyservin 0:fd24f7ca9688 35 return offset;
garyservin 0:fd24f7ca9688 36 }
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 int offset = 0;
garyservin 0:fd24f7ca9688 41 uint8_t circles_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 42 if(circles_lengthT > circles_length)
garyservin 0:fd24f7ca9688 43 this->circles = (opencv_apps::Circle*)realloc(this->circles, circles_lengthT * sizeof(opencv_apps::Circle));
garyservin 0:fd24f7ca9688 44 offset += 3;
garyservin 0:fd24f7ca9688 45 circles_length = circles_lengthT;
garyservin 0:fd24f7ca9688 46 for( uint8_t i = 0; i < circles_length; i++){
garyservin 0:fd24f7ca9688 47 offset += this->st_circles.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 48 memcpy( &(this->circles[i]), &(this->st_circles), sizeof(opencv_apps::Circle));
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 const char * getType(){ return "opencv_apps/CircleArray"; };
garyservin 0:fd24f7ca9688 54 const char * getMD5(){ return "1970b146e338dd024c765e522039a727"; };
garyservin 0:fd24f7ca9688 55
garyservin 0:fd24f7ca9688 56 };
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 }
garyservin 0:fd24f7ca9688 59 #endif