catchrobo2022
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catchrobo2022_mbed
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Pictogram.h
00001 #ifndef _ROS_jsk_rviz_plugins_Pictogram_h 00002 #define _ROS_jsk_rviz_plugins_Pictogram_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/Pose.h" 00010 #include "std_msgs/ColorRGBA.h" 00011 00012 namespace jsk_rviz_plugins 00013 { 00014 00015 class Pictogram : public ros::Msg 00016 { 00017 public: 00018 typedef std_msgs::Header _header_type; 00019 _header_type header; 00020 typedef geometry_msgs::Pose _pose_type; 00021 _pose_type pose; 00022 typedef uint8_t _action_type; 00023 _action_type action; 00024 typedef uint8_t _mode_type; 00025 _mode_type mode; 00026 typedef const char* _character_type; 00027 _character_type character; 00028 typedef double _size_type; 00029 _size_type size; 00030 typedef double _ttl_type; 00031 _ttl_type ttl; 00032 typedef double _speed_type; 00033 _speed_type speed; 00034 typedef std_msgs::ColorRGBA _color_type; 00035 _color_type color; 00036 enum { ADD = 0 }; 00037 enum { DELETE = 1 }; 00038 enum { ROTATE_Z = 2 }; 00039 enum { ROTATE_Y = 3 }; 00040 enum { ROTATE_X = 4 }; 00041 enum { JUMP = 5 }; 00042 enum { JUMP_ONCE = 6 }; 00043 enum { PICTOGRAM_MODE = 0 }; 00044 enum { STRING_MODE = 1 }; 00045 00046 Pictogram(): 00047 header(), 00048 pose(), 00049 action(0), 00050 mode(0), 00051 character(""), 00052 size(0), 00053 ttl(0), 00054 speed(0), 00055 color() 00056 { 00057 } 00058 00059 virtual int serialize(unsigned char *outbuffer) const 00060 { 00061 int offset = 0; 00062 offset += this->header.serialize(outbuffer + offset); 00063 offset += this->pose.serialize(outbuffer + offset); 00064 *(outbuffer + offset + 0) = (this->action >> (8 * 0)) & 0xFF; 00065 offset += sizeof(this->action); 00066 *(outbuffer + offset + 0) = (this->mode >> (8 * 0)) & 0xFF; 00067 offset += sizeof(this->mode); 00068 uint32_t length_character = strlen(this->character); 00069 varToArr(outbuffer + offset, length_character); 00070 offset += 4; 00071 memcpy(outbuffer + offset, this->character, length_character); 00072 offset += length_character; 00073 union { 00074 double real; 00075 uint64_t base; 00076 } u_size; 00077 u_size.real = this->size; 00078 *(outbuffer + offset + 0) = (u_size.base >> (8 * 0)) & 0xFF; 00079 *(outbuffer + offset + 1) = (u_size.base >> (8 * 1)) & 0xFF; 00080 *(outbuffer + offset + 2) = (u_size.base >> (8 * 2)) & 0xFF; 00081 *(outbuffer + offset + 3) = (u_size.base >> (8 * 3)) & 0xFF; 00082 *(outbuffer + offset + 4) = (u_size.base >> (8 * 4)) & 0xFF; 00083 *(outbuffer + offset + 5) = (u_size.base >> (8 * 5)) & 0xFF; 00084 *(outbuffer + offset + 6) = (u_size.base >> (8 * 6)) & 0xFF; 00085 *(outbuffer + offset + 7) = (u_size.base >> (8 * 7)) & 0xFF; 00086 offset += sizeof(this->size); 00087 union { 00088 double real; 00089 uint64_t base; 00090 } u_ttl; 00091 u_ttl.real = this->ttl; 00092 *(outbuffer + offset + 0) = (u_ttl.base >> (8 * 0)) & 0xFF; 00093 *(outbuffer + offset + 1) = (u_ttl.base >> (8 * 1)) & 0xFF; 00094 *(outbuffer + offset + 2) = (u_ttl.base >> (8 * 2)) & 0xFF; 00095 *(outbuffer + offset + 3) = (u_ttl.base >> (8 * 3)) & 0xFF; 00096 *(outbuffer + offset + 4) = (u_ttl.base >> (8 * 4)) & 0xFF; 00097 *(outbuffer + offset + 5) = (u_ttl.base >> (8 * 5)) & 0xFF; 00098 *(outbuffer + offset + 6) = (u_ttl.base >> (8 * 6)) & 0xFF; 00099 *(outbuffer + offset + 7) = (u_ttl.base >> (8 * 7)) & 0xFF; 00100 offset += sizeof(this->ttl); 00101 union { 00102 double real; 00103 uint64_t base; 00104 } u_speed; 00105 u_speed.real = this->speed; 00106 *(outbuffer + offset + 0) = (u_speed.base >> (8 * 0)) & 0xFF; 00107 *(outbuffer + offset + 1) = (u_speed.base >> (8 * 1)) & 0xFF; 00108 *(outbuffer + offset + 2) = (u_speed.base >> (8 * 2)) & 0xFF; 00109 *(outbuffer + offset + 3) = (u_speed.base >> (8 * 3)) & 0xFF; 00110 *(outbuffer + offset + 4) = (u_speed.base >> (8 * 4)) & 0xFF; 00111 *(outbuffer + offset + 5) = (u_speed.base >> (8 * 5)) & 0xFF; 00112 *(outbuffer + offset + 6) = (u_speed.base >> (8 * 6)) & 0xFF; 00113 *(outbuffer + offset + 7) = (u_speed.base >> (8 * 7)) & 0xFF; 00114 offset += sizeof(this->speed); 00115 offset += this->color.serialize(outbuffer + offset); 00116 return offset; 00117 } 00118 00119 virtual int deserialize(unsigned char *inbuffer) 00120 { 00121 int offset = 0; 00122 offset += this->header.deserialize(inbuffer + offset); 00123 offset += this->pose.deserialize(inbuffer + offset); 00124 this->action = ((uint8_t) (*(inbuffer + offset))); 00125 offset += sizeof(this->action); 00126 this->mode = ((uint8_t) (*(inbuffer + offset))); 00127 offset += sizeof(this->mode); 00128 uint32_t length_character; 00129 arrToVar(length_character, (inbuffer + offset)); 00130 offset += 4; 00131 for(unsigned int k= offset; k< offset+length_character; ++k){ 00132 inbuffer[k-1]=inbuffer[k]; 00133 } 00134 inbuffer[offset+length_character-1]=0; 00135 this->character = (char *)(inbuffer + offset-1); 00136 offset += length_character; 00137 union { 00138 double real; 00139 uint64_t base; 00140 } u_size; 00141 u_size.base = 0; 00142 u_size.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00143 u_size.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00144 u_size.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00145 u_size.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00146 u_size.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00147 u_size.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00148 u_size.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00149 u_size.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00150 this->size = u_size.real; 00151 offset += sizeof(this->size); 00152 union { 00153 double real; 00154 uint64_t base; 00155 } u_ttl; 00156 u_ttl.base = 0; 00157 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00158 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00159 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00160 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00161 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00162 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00163 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00164 u_ttl.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00165 this->ttl = u_ttl.real; 00166 offset += sizeof(this->ttl); 00167 union { 00168 double real; 00169 uint64_t base; 00170 } u_speed; 00171 u_speed.base = 0; 00172 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00173 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00174 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00175 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00176 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00177 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00178 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00179 u_speed.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00180 this->speed = u_speed.real; 00181 offset += sizeof(this->speed); 00182 offset += this->color.deserialize(inbuffer + offset); 00183 return offset; 00184 } 00185 00186 virtual const char * getType(){ return "jsk_rviz_plugins/Pictogram"; }; 00187 virtual const char * getMD5(){ return "29667e5652a8cfdc9c87d2ed97aa7bbc"; }; 00188 00189 }; 00190 00191 } 00192 #endif
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