Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/map_msgs/OccupancyGridUpdate.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_map_msgs_OccupancyGridUpdate_h
scarter1 0:020db18a476d 2 #define _ROS_map_msgs_OccupancyGridUpdate_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace map_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class OccupancyGridUpdate : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 17 _header_type header;
scarter1 0:020db18a476d 18 typedef int32_t _x_type;
scarter1 0:020db18a476d 19 _x_type x;
scarter1 0:020db18a476d 20 typedef int32_t _y_type;
scarter1 0:020db18a476d 21 _y_type y;
scarter1 0:020db18a476d 22 typedef uint32_t _width_type;
scarter1 0:020db18a476d 23 _width_type width;
scarter1 0:020db18a476d 24 typedef uint32_t _height_type;
scarter1 0:020db18a476d 25 _height_type height;
scarter1 0:020db18a476d 26 uint32_t data_length;
scarter1 0:020db18a476d 27 typedef int8_t _data_type;
scarter1 0:020db18a476d 28 _data_type st_data;
scarter1 0:020db18a476d 29 _data_type * data;
scarter1 0:020db18a476d 30
scarter1 0:020db18a476d 31 OccupancyGridUpdate():
scarter1 0:020db18a476d 32 header(),
scarter1 0:020db18a476d 33 x(0),
scarter1 0:020db18a476d 34 y(0),
scarter1 0:020db18a476d 35 width(0),
scarter1 0:020db18a476d 36 height(0),
scarter1 0:020db18a476d 37 data_length(0), data(NULL)
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 }
scarter1 0:020db18a476d 40
scarter1 0:020db18a476d 41 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 42 {
scarter1 0:020db18a476d 43 int offset = 0;
scarter1 0:020db18a476d 44 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 45 union {
scarter1 0:020db18a476d 46 int32_t real;
scarter1 0:020db18a476d 47 uint32_t base;
scarter1 0:020db18a476d 48 } u_x;
scarter1 0:020db18a476d 49 u_x.real = this->x;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 52 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 54 offset += sizeof(this->x);
scarter1 0:020db18a476d 55 union {
scarter1 0:020db18a476d 56 int32_t real;
scarter1 0:020db18a476d 57 uint32_t base;
scarter1 0:020db18a476d 58 } u_y;
scarter1 0:020db18a476d 59 u_y.real = this->y;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 64 offset += sizeof(this->y);
scarter1 0:020db18a476d 65 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 67 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 68 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 69 offset += sizeof(this->width);
scarter1 0:020db18a476d 70 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 71 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 72 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 73 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 74 offset += sizeof(this->height);
scarter1 0:020db18a476d 75 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 78 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 79 offset += sizeof(this->data_length);
scarter1 0:020db18a476d 80 for( uint32_t i = 0; i < data_length; i++){
scarter1 0:020db18a476d 81 union {
scarter1 0:020db18a476d 82 int8_t real;
scarter1 0:020db18a476d 83 uint8_t base;
scarter1 0:020db18a476d 84 } u_datai;
scarter1 0:020db18a476d 85 u_datai.real = this->data[i];
scarter1 0:020db18a476d 86 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 87 offset += sizeof(this->data[i]);
scarter1 0:020db18a476d 88 }
scarter1 0:020db18a476d 89 return offset;
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91
scarter1 0:020db18a476d 92 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 93 {
scarter1 0:020db18a476d 94 int offset = 0;
scarter1 0:020db18a476d 95 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 96 union {
scarter1 0:020db18a476d 97 int32_t real;
scarter1 0:020db18a476d 98 uint32_t base;
scarter1 0:020db18a476d 99 } u_x;
scarter1 0:020db18a476d 100 u_x.base = 0;
scarter1 0:020db18a476d 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 103 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 104 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 105 this->x = u_x.real;
scarter1 0:020db18a476d 106 offset += sizeof(this->x);
scarter1 0:020db18a476d 107 union {
scarter1 0:020db18a476d 108 int32_t real;
scarter1 0:020db18a476d 109 uint32_t base;
scarter1 0:020db18a476d 110 } u_y;
scarter1 0:020db18a476d 111 u_y.base = 0;
scarter1 0:020db18a476d 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 114 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 115 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 116 this->y = u_y.real;
scarter1 0:020db18a476d 117 offset += sizeof(this->y);
scarter1 0:020db18a476d 118 this->width = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 119 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 120 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 121 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 122 offset += sizeof(this->width);
scarter1 0:020db18a476d 123 this->height = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 124 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 125 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 126 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 127 offset += sizeof(this->height);
scarter1 0:020db18a476d 128 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 129 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 130 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 131 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 132 offset += sizeof(this->data_length);
scarter1 0:020db18a476d 133 if(data_lengthT > data_length)
scarter1 0:020db18a476d 134 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
scarter1 0:020db18a476d 135 data_length = data_lengthT;
scarter1 0:020db18a476d 136 for( uint32_t i = 0; i < data_length; i++){
scarter1 0:020db18a476d 137 union {
scarter1 0:020db18a476d 138 int8_t real;
scarter1 0:020db18a476d 139 uint8_t base;
scarter1 0:020db18a476d 140 } u_st_data;
scarter1 0:020db18a476d 141 u_st_data.base = 0;
scarter1 0:020db18a476d 142 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 143 this->st_data = u_st_data.real;
scarter1 0:020db18a476d 144 offset += sizeof(this->st_data);
scarter1 0:020db18a476d 145 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
scarter1 0:020db18a476d 146 }
scarter1 0:020db18a476d 147 return offset;
scarter1 0:020db18a476d 148 }
scarter1 0:020db18a476d 149
scarter1 0:020db18a476d 150 const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
scarter1 0:020db18a476d 151 const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
scarter1 0:020db18a476d 152
scarter1 0:020db18a476d 153 };
scarter1 0:020db18a476d 154
scarter1 0:020db18a476d 155 }
scarter1 0:020db18a476d 156 #endif