Revision 2:04b84e97cabd, committed 2019-10-30

Comitter:

florine_van

Date:

Wed Oct 30 13:12:15 2019 +0000

Parent:

1:a849bf78d77f

Commit message:

Add custom message;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_custom_msgs/lidar_msg.h	Wed Oct 30 13:12:15 2019 +0000
@@ -0,0 +1,113 @@
+#ifndef _ROS_mbed_custom_msgs_lidar_msg_h
+#define _ROS_mbed_custom_msgs_lidar_msg_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace mbed_custom_msgs
+{
+
+  class lidar_msg : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _sensor_forward_type;
+      _sensor_forward_type sensor_forward;
+      typedef uint32_t _sensor_back_type;
+      _sensor_back_type sensor_back;
+      typedef uint32_t _sensor_left_type;
+      _sensor_left_type sensor_left;
+      typedef uint32_t _sensor_right_type;
+      _sensor_right_type sensor_right;
+      typedef const char* _data_type;
+      _data_type data;
+
+    lidar_msg():
+      header(),
+      sensor_forward(0),
+      sensor_back(0),
+      sensor_left(0),
+      sensor_right(0),
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->sensor_forward >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sensor_forward >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sensor_forward >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sensor_forward >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_forward);
+      *(outbuffer + offset + 0) = (this->sensor_back >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sensor_back >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sensor_back >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sensor_back >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_back);
+      *(outbuffer + offset + 0) = (this->sensor_left >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sensor_left >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sensor_left >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sensor_left >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_left);
+      *(outbuffer + offset + 0) = (this->sensor_right >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sensor_right >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sensor_right >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sensor_right >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_right);
+      uint32_t length_data = strlen(this->data);
+      varToArr(outbuffer + offset, length_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->sensor_forward =  ((uint32_t) (*(inbuffer + offset)));
+      this->sensor_forward |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sensor_forward |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sensor_forward |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sensor_forward);
+      this->sensor_back =  ((uint32_t) (*(inbuffer + offset)));
+      this->sensor_back |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sensor_back |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sensor_back |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sensor_back);
+      this->sensor_left =  ((uint32_t) (*(inbuffer + offset)));
+      this->sensor_left |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sensor_left |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sensor_left |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sensor_left);
+      this->sensor_right =  ((uint32_t) (*(inbuffer + offset)));
+      this->sensor_right |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sensor_right |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sensor_right |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sensor_right);
+      uint32_t length_data;
+      arrToVar(length_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "mbed_custom_msgs/lidar_msg"; };
+    const char * getMD5(){ return "1576a60ced5a1f58d271af7970886f43"; };
+
+  };
+
+}
+#endif