Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

map_msgs/OccupancyGridUpdate.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_map_msgs_OccupancyGridUpdate_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_map_msgs_OccupancyGridUpdate_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace map_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class OccupancyGridUpdate : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 int32_t x;
akashvibhute 0:30537dec6e0b 18 int32_t y;
akashvibhute 0:30537dec6e0b 19 uint32_t width;
akashvibhute 0:30537dec6e0b 20 uint32_t height;
akashvibhute 0:30537dec6e0b 21 uint8_t data_length;
akashvibhute 0:30537dec6e0b 22 int8_t st_data;
akashvibhute 0:30537dec6e0b 23 int8_t * data;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 OccupancyGridUpdate():
akashvibhute 0:30537dec6e0b 26 header(),
akashvibhute 0:30537dec6e0b 27 x(0),
akashvibhute 0:30537dec6e0b 28 y(0),
akashvibhute 0:30537dec6e0b 29 width(0),
akashvibhute 0:30537dec6e0b 30 height(0),
akashvibhute 0:30537dec6e0b 31 data_length(0), data(NULL)
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 }
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 int offset = 0;
akashvibhute 0:30537dec6e0b 38 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 39 union {
akashvibhute 0:30537dec6e0b 40 int32_t real;
akashvibhute 0:30537dec6e0b 41 uint32_t base;
akashvibhute 0:30537dec6e0b 42 } u_x;
akashvibhute 0:30537dec6e0b 43 u_x.real = this->x;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 48 offset += sizeof(this->x);
akashvibhute 0:30537dec6e0b 49 union {
akashvibhute 0:30537dec6e0b 50 int32_t real;
akashvibhute 0:30537dec6e0b 51 uint32_t base;
akashvibhute 0:30537dec6e0b 52 } u_y;
akashvibhute 0:30537dec6e0b 53 u_y.real = this->y;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 offset += sizeof(this->y);
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset++) = data_length;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 73 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 74 union {
akashvibhute 0:30537dec6e0b 75 int8_t real;
akashvibhute 0:30537dec6e0b 76 uint8_t base;
akashvibhute 0:30537dec6e0b 77 } u_datai;
akashvibhute 0:30537dec6e0b 78 u_datai.real = this->data[i];
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 80 offset += sizeof(this->data[i]);
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82 return offset;
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 86 {
akashvibhute 0:30537dec6e0b 87 int offset = 0;
akashvibhute 0:30537dec6e0b 88 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 89 union {
akashvibhute 0:30537dec6e0b 90 int32_t real;
akashvibhute 0:30537dec6e0b 91 uint32_t base;
akashvibhute 0:30537dec6e0b 92 } u_x;
akashvibhute 0:30537dec6e0b 93 u_x.base = 0;
akashvibhute 0:30537dec6e0b 94 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 95 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 96 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 97 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 98 this->x = u_x.real;
akashvibhute 0:30537dec6e0b 99 offset += sizeof(this->x);
akashvibhute 0:30537dec6e0b 100 union {
akashvibhute 0:30537dec6e0b 101 int32_t real;
akashvibhute 0:30537dec6e0b 102 uint32_t base;
akashvibhute 0:30537dec6e0b 103 } u_y;
akashvibhute 0:30537dec6e0b 104 u_y.base = 0;
akashvibhute 0:30537dec6e0b 105 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 106 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 107 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 108 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 109 this->y = u_y.real;
akashvibhute 0:30537dec6e0b 110 offset += sizeof(this->y);
akashvibhute 0:30537dec6e0b 111 this->width = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 112 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 113 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 114 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 115 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 116 this->height = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 117 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 118 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 119 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 120 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 121 uint8_t data_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 122 if(data_lengthT > data_length)
akashvibhute 0:30537dec6e0b 123 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
akashvibhute 0:30537dec6e0b 124 offset += 3;
akashvibhute 0:30537dec6e0b 125 data_length = data_lengthT;
akashvibhute 0:30537dec6e0b 126 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 127 union {
akashvibhute 0:30537dec6e0b 128 int8_t real;
akashvibhute 0:30537dec6e0b 129 uint8_t base;
akashvibhute 0:30537dec6e0b 130 } u_st_data;
akashvibhute 0:30537dec6e0b 131 u_st_data.base = 0;
akashvibhute 0:30537dec6e0b 132 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 133 this->st_data = u_st_data.real;
akashvibhute 0:30537dec6e0b 134 offset += sizeof(this->st_data);
akashvibhute 0:30537dec6e0b 135 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
akashvibhute 0:30537dec6e0b 136 }
akashvibhute 0:30537dec6e0b 137 return offset;
akashvibhute 0:30537dec6e0b 138 }
akashvibhute 0:30537dec6e0b 139
akashvibhute 0:30537dec6e0b 140 const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
akashvibhute 0:30537dec6e0b 141 const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
akashvibhute 0:30537dec6e0b 142
akashvibhute 0:30537dec6e0b 143 };
akashvibhute 0:30537dec6e0b 144
akashvibhute 0:30537dec6e0b 145 }
akashvibhute 0:30537dec6e0b 146 #endif