Robotic Team 1 / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

shape_msgs/SolidPrimitive.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_shape_msgs_SolidPrimitive_h
garyservin 0:fd24f7ca9688 2 #define _ROS_shape_msgs_SolidPrimitive_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
garyservin 0:fd24f7ca9688 9 namespace shape_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class SolidPrimitive : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 uint8_t type;
garyservin 0:fd24f7ca9688 16 uint8_t dimensions_length;
garyservin 0:fd24f7ca9688 17 double st_dimensions;
garyservin 0:fd24f7ca9688 18 double * dimensions;
garyservin 0:fd24f7ca9688 19 enum { BOX = 1 };
garyservin 0:fd24f7ca9688 20 enum { SPHERE = 2 };
garyservin 0:fd24f7ca9688 21 enum { CYLINDER = 3 };
garyservin 0:fd24f7ca9688 22 enum { CONE = 4 };
garyservin 0:fd24f7ca9688 23 enum { BOX_X = 0 };
garyservin 0:fd24f7ca9688 24 enum { BOX_Y = 1 };
garyservin 0:fd24f7ca9688 25 enum { BOX_Z = 2 };
garyservin 0:fd24f7ca9688 26 enum { SPHERE_RADIUS = 0 };
garyservin 0:fd24f7ca9688 27 enum { CYLINDER_HEIGHT = 0 };
garyservin 0:fd24f7ca9688 28 enum { CYLINDER_RADIUS = 1 };
garyservin 0:fd24f7ca9688 29 enum { CONE_HEIGHT = 0 };
garyservin 0:fd24f7ca9688 30 enum { CONE_RADIUS = 1 };
garyservin 0:fd24f7ca9688 31
garyservin 0:fd24f7ca9688 32 SolidPrimitive():
garyservin 0:fd24f7ca9688 33 type(0),
garyservin 0:fd24f7ca9688 34 dimensions_length(0), dimensions(NULL)
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 }
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 int offset = 0;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset++) = dimensions_length;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 47 for( uint8_t i = 0; i < dimensions_length; i++){
garyservin 0:fd24f7ca9688 48 union {
garyservin 0:fd24f7ca9688 49 double real;
garyservin 0:fd24f7ca9688 50 uint64_t base;
garyservin 0:fd24f7ca9688 51 } u_dimensionsi;
garyservin 0:fd24f7ca9688 52 u_dimensionsi.real = this->dimensions[i];
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 61 offset += sizeof(this->dimensions[i]);
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63 return offset;
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 67 {
garyservin 0:fd24f7ca9688 68 int offset = 0;
garyservin 0:fd24f7ca9688 69 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 70 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 71 uint8_t dimensions_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 72 if(dimensions_lengthT > dimensions_length)
garyservin 0:fd24f7ca9688 73 this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 74 offset += 3;
garyservin 0:fd24f7ca9688 75 dimensions_length = dimensions_lengthT;
garyservin 0:fd24f7ca9688 76 for( uint8_t i = 0; i < dimensions_length; i++){
garyservin 0:fd24f7ca9688 77 union {
garyservin 0:fd24f7ca9688 78 double real;
garyservin 0:fd24f7ca9688 79 uint64_t base;
garyservin 0:fd24f7ca9688 80 } u_st_dimensions;
garyservin 0:fd24f7ca9688 81 u_st_dimensions.base = 0;
garyservin 0:fd24f7ca9688 82 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 83 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 84 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 85 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 86 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 87 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 88 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 89 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 90 this->st_dimensions = u_st_dimensions.real;
garyservin 0:fd24f7ca9688 91 offset += sizeof(this->st_dimensions);
garyservin 0:fd24f7ca9688 92 memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94 return offset;
garyservin 0:fd24f7ca9688 95 }
garyservin 0:fd24f7ca9688 96
garyservin 0:fd24f7ca9688 97 const char * getType(){ return "shape_msgs/SolidPrimitive"; };
garyservin 0:fd24f7ca9688 98 const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
garyservin 0:fd24f7ca9688 99
garyservin 0:fd24f7ca9688 100 };
garyservin 0:fd24f7ca9688 101
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103 #endif