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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/shape_msgs/SolidPrimitive.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_shape_msgs_SolidPrimitive_h
scarter1 0:020db18a476d 2 #define _ROS_shape_msgs_SolidPrimitive_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
scarter1 0:020db18a476d 9 namespace shape_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class SolidPrimitive : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef uint8_t _type_type;
scarter1 0:020db18a476d 16 _type_type type;
scarter1 0:020db18a476d 17 uint32_t dimensions_length;
scarter1 0:020db18a476d 18 typedef double _dimensions_type;
scarter1 0:020db18a476d 19 _dimensions_type st_dimensions;
scarter1 0:020db18a476d 20 _dimensions_type * dimensions;
scarter1 0:020db18a476d 21 enum { BOX = 1 };
scarter1 0:020db18a476d 22 enum { SPHERE = 2 };
scarter1 0:020db18a476d 23 enum { CYLINDER = 3 };
scarter1 0:020db18a476d 24 enum { CONE = 4 };
scarter1 0:020db18a476d 25 enum { BOX_X = 0 };
scarter1 0:020db18a476d 26 enum { BOX_Y = 1 };
scarter1 0:020db18a476d 27 enum { BOX_Z = 2 };
scarter1 0:020db18a476d 28 enum { SPHERE_RADIUS = 0 };
scarter1 0:020db18a476d 29 enum { CYLINDER_HEIGHT = 0 };
scarter1 0:020db18a476d 30 enum { CYLINDER_RADIUS = 1 };
scarter1 0:020db18a476d 31 enum { CONE_HEIGHT = 0 };
scarter1 0:020db18a476d 32 enum { CONE_RADIUS = 1 };
scarter1 0:020db18a476d 33
scarter1 0:020db18a476d 34 SolidPrimitive():
scarter1 0:020db18a476d 35 type(0),
scarter1 0:020db18a476d 36 dimensions_length(0), dimensions(NULL)
scarter1 0:020db18a476d 37 {
scarter1 0:020db18a476d 38 }
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 int offset = 0;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 44 offset += sizeof(this->type);
scarter1 0:020db18a476d 45 *(outbuffer + offset + 0) = (this->dimensions_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 1) = (this->dimensions_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 2) = (this->dimensions_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 3) = (this->dimensions_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 49 offset += sizeof(this->dimensions_length);
scarter1 0:020db18a476d 50 for( uint32_t i = 0; i < dimensions_length; i++){
scarter1 0:020db18a476d 51 union {
scarter1 0:020db18a476d 52 double real;
scarter1 0:020db18a476d 53 uint64_t base;
scarter1 0:020db18a476d 54 } u_dimensionsi;
scarter1 0:020db18a476d 55 u_dimensionsi.real = this->dimensions[i];
scarter1 0:020db18a476d 56 *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 57 *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 64 offset += sizeof(this->dimensions[i]);
scarter1 0:020db18a476d 65 }
scarter1 0:020db18a476d 66 return offset;
scarter1 0:020db18a476d 67 }
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 70 {
scarter1 0:020db18a476d 71 int offset = 0;
scarter1 0:020db18a476d 72 this->type = ((uint8_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 73 offset += sizeof(this->type);
scarter1 0:020db18a476d 74 uint32_t dimensions_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 75 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 76 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 77 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 78 offset += sizeof(this->dimensions_length);
scarter1 0:020db18a476d 79 if(dimensions_lengthT > dimensions_length)
scarter1 0:020db18a476d 80 this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
scarter1 0:020db18a476d 81 dimensions_length = dimensions_lengthT;
scarter1 0:020db18a476d 82 for( uint32_t i = 0; i < dimensions_length; i++){
scarter1 0:020db18a476d 83 union {
scarter1 0:020db18a476d 84 double real;
scarter1 0:020db18a476d 85 uint64_t base;
scarter1 0:020db18a476d 86 } u_st_dimensions;
scarter1 0:020db18a476d 87 u_st_dimensions.base = 0;
scarter1 0:020db18a476d 88 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 89 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 90 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 91 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 92 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 93 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 94 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 95 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 96 this->st_dimensions = u_st_dimensions.real;
scarter1 0:020db18a476d 97 offset += sizeof(this->st_dimensions);
scarter1 0:020db18a476d 98 memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
scarter1 0:020db18a476d 99 }
scarter1 0:020db18a476d 100 return offset;
scarter1 0:020db18a476d 101 }
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 const char * getType(){ return "shape_msgs/SolidPrimitive"; };
scarter1 0:020db18a476d 104 const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
scarter1 0:020db18a476d 105
scarter1 0:020db18a476d 106 };
scarter1 0:020db18a476d 107
scarter1 0:020db18a476d 108 }
scarter1 0:020db18a476d 109 #endif