catchrobo2022
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catchrobo2022_mbed
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Object.h
00001 #ifndef _ROS_jsk_recognition_msgs_Object_h 00002 #define _ROS_jsk_recognition_msgs_Object_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "geometry_msgs/Vector3.h" 00009 00010 namespace jsk_recognition_msgs 00011 { 00012 00013 class Object : public ros::Msg 00014 { 00015 public: 00016 typedef int32_t _id_type; 00017 _id_type id; 00018 typedef const char* _name_type; 00019 _name_type name; 00020 typedef int32_t _class_id_type; 00021 _class_id_type class_id; 00022 typedef const char* _class_name_type; 00023 _class_name_type class_name; 00024 uint32_t image_resources_length; 00025 typedef char* _image_resources_type; 00026 _image_resources_type st_image_resources; 00027 _image_resources_type * image_resources; 00028 typedef const char* _mesh_resource_type; 00029 _mesh_resource_type mesh_resource; 00030 typedef float _weight_type; 00031 _weight_type weight; 00032 typedef geometry_msgs::Vector3 _dimensions_type; 00033 _dimensions_type dimensions; 00034 00035 Object(): 00036 id(0), 00037 name(""), 00038 class_id(0), 00039 class_name(""), 00040 image_resources_length(0), image_resources(NULL), 00041 mesh_resource(""), 00042 weight(0), 00043 dimensions() 00044 { 00045 } 00046 00047 virtual int serialize(unsigned char *outbuffer) const 00048 { 00049 int offset = 0; 00050 union { 00051 int32_t real; 00052 uint32_t base; 00053 } u_id; 00054 u_id.real = this->id; 00055 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF; 00056 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF; 00057 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF; 00058 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF; 00059 offset += sizeof(this->id); 00060 uint32_t length_name = strlen(this->name); 00061 varToArr(outbuffer + offset, length_name); 00062 offset += 4; 00063 memcpy(outbuffer + offset, this->name, length_name); 00064 offset += length_name; 00065 union { 00066 int32_t real; 00067 uint32_t base; 00068 } u_class_id; 00069 u_class_id.real = this->class_id; 00070 *(outbuffer + offset + 0) = (u_class_id.base >> (8 * 0)) & 0xFF; 00071 *(outbuffer + offset + 1) = (u_class_id.base >> (8 * 1)) & 0xFF; 00072 *(outbuffer + offset + 2) = (u_class_id.base >> (8 * 2)) & 0xFF; 00073 *(outbuffer + offset + 3) = (u_class_id.base >> (8 * 3)) & 0xFF; 00074 offset += sizeof(this->class_id); 00075 uint32_t length_class_name = strlen(this->class_name); 00076 varToArr(outbuffer + offset, length_class_name); 00077 offset += 4; 00078 memcpy(outbuffer + offset, this->class_name, length_class_name); 00079 offset += length_class_name; 00080 *(outbuffer + offset + 0) = (this->image_resources_length >> (8 * 0)) & 0xFF; 00081 *(outbuffer + offset + 1) = (this->image_resources_length >> (8 * 1)) & 0xFF; 00082 *(outbuffer + offset + 2) = (this->image_resources_length >> (8 * 2)) & 0xFF; 00083 *(outbuffer + offset + 3) = (this->image_resources_length >> (8 * 3)) & 0xFF; 00084 offset += sizeof(this->image_resources_length); 00085 for( uint32_t i = 0; i < image_resources_length; i++){ 00086 uint32_t length_image_resourcesi = strlen(this->image_resources[i]); 00087 varToArr(outbuffer + offset, length_image_resourcesi); 00088 offset += 4; 00089 memcpy(outbuffer + offset, this->image_resources[i], length_image_resourcesi); 00090 offset += length_image_resourcesi; 00091 } 00092 uint32_t length_mesh_resource = strlen(this->mesh_resource); 00093 varToArr(outbuffer + offset, length_mesh_resource); 00094 offset += 4; 00095 memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource); 00096 offset += length_mesh_resource; 00097 union { 00098 float real; 00099 uint32_t base; 00100 } u_weight; 00101 u_weight.real = this->weight; 00102 *(outbuffer + offset + 0) = (u_weight.base >> (8 * 0)) & 0xFF; 00103 *(outbuffer + offset + 1) = (u_weight.base >> (8 * 1)) & 0xFF; 00104 *(outbuffer + offset + 2) = (u_weight.base >> (8 * 2)) & 0xFF; 00105 *(outbuffer + offset + 3) = (u_weight.base >> (8 * 3)) & 0xFF; 00106 offset += sizeof(this->weight); 00107 offset += this->dimensions.serialize(outbuffer + offset); 00108 return offset; 00109 } 00110 00111 virtual int deserialize(unsigned char *inbuffer) 00112 { 00113 int offset = 0; 00114 union { 00115 int32_t real; 00116 uint32_t base; 00117 } u_id; 00118 u_id.base = 0; 00119 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00120 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00121 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00122 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00123 this->id = u_id.real; 00124 offset += sizeof(this->id); 00125 uint32_t length_name; 00126 arrToVar(length_name, (inbuffer + offset)); 00127 offset += 4; 00128 for(unsigned int k= offset; k< offset+length_name; ++k){ 00129 inbuffer[k-1]=inbuffer[k]; 00130 } 00131 inbuffer[offset+length_name-1]=0; 00132 this->name = (char *)(inbuffer + offset-1); 00133 offset += length_name; 00134 union { 00135 int32_t real; 00136 uint32_t base; 00137 } u_class_id; 00138 u_class_id.base = 0; 00139 u_class_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00140 u_class_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00141 u_class_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00142 u_class_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00143 this->class_id = u_class_id.real; 00144 offset += sizeof(this->class_id); 00145 uint32_t length_class_name; 00146 arrToVar(length_class_name, (inbuffer + offset)); 00147 offset += 4; 00148 for(unsigned int k= offset; k< offset+length_class_name; ++k){ 00149 inbuffer[k-1]=inbuffer[k]; 00150 } 00151 inbuffer[offset+length_class_name-1]=0; 00152 this->class_name = (char *)(inbuffer + offset-1); 00153 offset += length_class_name; 00154 uint32_t image_resources_lengthT = ((uint32_t) (*(inbuffer + offset))); 00155 image_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00156 image_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00157 image_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00158 offset += sizeof(this->image_resources_length); 00159 if(image_resources_lengthT > image_resources_length) 00160 this->image_resources = (char**)realloc(this->image_resources, image_resources_lengthT * sizeof(char*)); 00161 image_resources_length = image_resources_lengthT; 00162 for( uint32_t i = 0; i < image_resources_length; i++){ 00163 uint32_t length_st_image_resources; 00164 arrToVar(length_st_image_resources, (inbuffer + offset)); 00165 offset += 4; 00166 for(unsigned int k= offset; k< offset+length_st_image_resources; ++k){ 00167 inbuffer[k-1]=inbuffer[k]; 00168 } 00169 inbuffer[offset+length_st_image_resources-1]=0; 00170 this->st_image_resources = (char *)(inbuffer + offset-1); 00171 offset += length_st_image_resources; 00172 memcpy( &(this->image_resources[i]), &(this->st_image_resources), sizeof(char*)); 00173 } 00174 uint32_t length_mesh_resource; 00175 arrToVar(length_mesh_resource, (inbuffer + offset)); 00176 offset += 4; 00177 for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){ 00178 inbuffer[k-1]=inbuffer[k]; 00179 } 00180 inbuffer[offset+length_mesh_resource-1]=0; 00181 this->mesh_resource = (char *)(inbuffer + offset-1); 00182 offset += length_mesh_resource; 00183 union { 00184 float real; 00185 uint32_t base; 00186 } u_weight; 00187 u_weight.base = 0; 00188 u_weight.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00189 u_weight.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00190 u_weight.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00191 u_weight.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00192 this->weight = u_weight.real; 00193 offset += sizeof(this->weight); 00194 offset += this->dimensions.deserialize(inbuffer + offset); 00195 return offset; 00196 } 00197 00198 virtual const char * getType(){ return "jsk_recognition_msgs/Object"; }; 00199 virtual const char * getMD5(){ return "57c53e712043df0244b0482d0447adee"; }; 00200 00201 }; 00202 00203 } 00204 #endif
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