57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
pcl_msgs/ModelCoefficients.h@2:40f11e1dc026, 2018-10-23 (annotated)
- Committer:
- WeberYang
- Date:
- Tue Oct 23 03:00:47 2018 +0000
- Revision:
- 2:40f11e1dc026
- Parent:
- 0:9e9b7db60fd5
Using two TIM to capture encoder signals.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_pcl_msgs_ModelCoefficients_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_pcl_msgs_ModelCoefficients_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace pcl_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class ModelCoefficients : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 18 | uint32_t values_length; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef float _values_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _values_type st_values; |
garyservin | 0:9e9b7db60fd5 | 21 | _values_type * values; |
garyservin | 0:9e9b7db60fd5 | 22 | |
garyservin | 0:9e9b7db60fd5 | 23 | ModelCoefficients(): |
garyservin | 0:9e9b7db60fd5 | 24 | header(), |
garyservin | 0:9e9b7db60fd5 | 25 | values_length(0), values(NULL) |
garyservin | 0:9e9b7db60fd5 | 26 | { |
garyservin | 0:9e9b7db60fd5 | 27 | } |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 30 | { |
garyservin | 0:9e9b7db60fd5 | 31 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 32 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 33 | *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 34 | *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 35 | *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 36 | *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 37 | offset += sizeof(this->values_length); |
garyservin | 0:9e9b7db60fd5 | 38 | for( uint32_t i = 0; i < values_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 39 | union { |
garyservin | 0:9e9b7db60fd5 | 40 | float real; |
garyservin | 0:9e9b7db60fd5 | 41 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 42 | } u_valuesi; |
garyservin | 0:9e9b7db60fd5 | 43 | u_valuesi.real = this->values[i]; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | offset += sizeof(this->values[i]); |
garyservin | 0:9e9b7db60fd5 | 49 | } |
garyservin | 0:9e9b7db60fd5 | 50 | return offset; |
garyservin | 0:9e9b7db60fd5 | 51 | } |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 54 | { |
garyservin | 0:9e9b7db60fd5 | 55 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 57 | uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 58 | values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 59 | values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 60 | values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 61 | offset += sizeof(this->values_length); |
garyservin | 0:9e9b7db60fd5 | 62 | if(values_lengthT > values_length) |
garyservin | 0:9e9b7db60fd5 | 63 | this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 64 | values_length = values_lengthT; |
garyservin | 0:9e9b7db60fd5 | 65 | for( uint32_t i = 0; i < values_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 66 | union { |
garyservin | 0:9e9b7db60fd5 | 67 | float real; |
garyservin | 0:9e9b7db60fd5 | 68 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 69 | } u_st_values; |
garyservin | 0:9e9b7db60fd5 | 70 | u_st_values.base = 0; |
garyservin | 0:9e9b7db60fd5 | 71 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 72 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 73 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 74 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 75 | this->st_values = u_st_values.real; |
garyservin | 0:9e9b7db60fd5 | 76 | offset += sizeof(this->st_values); |
garyservin | 0:9e9b7db60fd5 | 77 | memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 78 | } |
garyservin | 0:9e9b7db60fd5 | 79 | return offset; |
garyservin | 0:9e9b7db60fd5 | 80 | } |
garyservin | 0:9e9b7db60fd5 | 81 | |
garyservin | 0:9e9b7db60fd5 | 82 | const char * getType(){ return "pcl_msgs/ModelCoefficients"; }; |
garyservin | 0:9e9b7db60fd5 | 83 | const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; }; |
garyservin | 0:9e9b7db60fd5 | 84 | |
garyservin | 0:9e9b7db60fd5 | 85 | }; |
garyservin | 0:9e9b7db60fd5 | 86 | |
garyservin | 0:9e9b7db60fd5 | 87 | } |
garyservin | 0:9e9b7db60fd5 | 88 | #endif |