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!

sensor_msgs/PointCloud2.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_sensor_msgs_PointCloud2_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_sensor_msgs_PointCloud2_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 #include "sensor_msgs/PointField.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace sensor_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class PointCloud2 : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 18 uint32_t height;
akashvibhute 0:30537dec6e0b 19 uint32_t width;
akashvibhute 0:30537dec6e0b 20 uint8_t fields_length;
akashvibhute 0:30537dec6e0b 21 sensor_msgs::PointField st_fields;
akashvibhute 0:30537dec6e0b 22 sensor_msgs::PointField * fields;
akashvibhute 0:30537dec6e0b 23 bool is_bigendian;
akashvibhute 0:30537dec6e0b 24 uint32_t point_step;
akashvibhute 0:30537dec6e0b 25 uint32_t row_step;
akashvibhute 0:30537dec6e0b 26 uint8_t data_length;
akashvibhute 0:30537dec6e0b 27 uint8_t st_data;
akashvibhute 0:30537dec6e0b 28 uint8_t * data;
akashvibhute 0:30537dec6e0b 29 bool is_dense;
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = fields_length;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 for( uint8_t i = 0; i < fields_length; i++){
akashvibhute 0:30537dec6e0b 50 offset += this->fields[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52 union {
akashvibhute 0:30537dec6e0b 53 bool real;
akashvibhute 0:30537dec6e0b 54 uint8_t base;
akashvibhute 0:30537dec6e0b 55 } u_is_bigendian;
akashvibhute 0:30537dec6e0b 56 u_is_bigendian.real = this->is_bigendian;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 offset += sizeof(this->is_bigendian);
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 offset += sizeof(this->point_step);
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 offset += sizeof(this->row_step);
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 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 75 offset += sizeof(this->data[i]);
akashvibhute 0:30537dec6e0b 76 }
akashvibhute 0:30537dec6e0b 77 union {
akashvibhute 0:30537dec6e0b 78 bool real;
akashvibhute 0:30537dec6e0b 79 uint8_t base;
akashvibhute 0:30537dec6e0b 80 } u_is_dense;
akashvibhute 0:30537dec6e0b 81 u_is_dense.real = this->is_dense;
akashvibhute 0:30537dec6e0b 82 *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 83 offset += sizeof(this->is_dense);
akashvibhute 0:30537dec6e0b 84 return offset;
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86
akashvibhute 0:30537dec6e0b 87 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 88 {
akashvibhute 0:30537dec6e0b 89 int offset = 0;
akashvibhute 0:30537dec6e0b 90 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 91 this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 92 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 93 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 94 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 95 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 96 this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 97 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 98 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 99 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 100 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 101 uint8_t fields_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 102 if(fields_lengthT > fields_length)
akashvibhute 0:30537dec6e0b 103 this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
akashvibhute 0:30537dec6e0b 104 offset += 3;
akashvibhute 0:30537dec6e0b 105 fields_length = fields_lengthT;
akashvibhute 0:30537dec6e0b 106 for( uint8_t i = 0; i < fields_length; i++){
akashvibhute 0:30537dec6e0b 107 offset += this->st_fields.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 108 memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
akashvibhute 0:30537dec6e0b 109 }
akashvibhute 0:30537dec6e0b 110 union {
akashvibhute 0:30537dec6e0b 111 bool real;
akashvibhute 0:30537dec6e0b 112 uint8_t base;
akashvibhute 0:30537dec6e0b 113 } u_is_bigendian;
akashvibhute 0:30537dec6e0b 114 u_is_bigendian.base = 0;
akashvibhute 0:30537dec6e0b 115 u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 116 this->is_bigendian = u_is_bigendian.real;
akashvibhute 0:30537dec6e0b 117 offset += sizeof(this->is_bigendian);
akashvibhute 0:30537dec6e0b 118 this->point_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 119 this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 120 this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 121 this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 122 offset += sizeof(this->point_step);
akashvibhute 0:30537dec6e0b 123 this->row_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 124 this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 125 this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 126 this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 127 offset += sizeof(this->row_step);
akashvibhute 0:30537dec6e0b 128 uint8_t data_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 129 if(data_lengthT > data_length)
akashvibhute 0:30537dec6e0b 130 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 131 offset += 3;
akashvibhute 0:30537dec6e0b 132 data_length = data_lengthT;
akashvibhute 0:30537dec6e0b 133 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 134 this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 135 offset += sizeof(this->st_data);
akashvibhute 0:30537dec6e0b 136 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 union {
akashvibhute 0:30537dec6e0b 139 bool real;
akashvibhute 0:30537dec6e0b 140 uint8_t base;
akashvibhute 0:30537dec6e0b 141 } u_is_dense;
akashvibhute 0:30537dec6e0b 142 u_is_dense.base = 0;
akashvibhute 0:30537dec6e0b 143 u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 144 this->is_dense = u_is_dense.real;
akashvibhute 0:30537dec6e0b 145 offset += sizeof(this->is_dense);
akashvibhute 0:30537dec6e0b 146 return offset;
akashvibhute 0:30537dec6e0b 147 }
akashvibhute 0:30537dec6e0b 148
akashvibhute 0:30537dec6e0b 149 virtual const char * getType(){ return "sensor_msgs/PointCloud2"; };
akashvibhute 0:30537dec6e0b 150 virtual const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
akashvibhute 0:30537dec6e0b 151
akashvibhute 0:30537dec6e0b 152 };
akashvibhute 0:30537dec6e0b 153
akashvibhute 0:30537dec6e0b 154 }
akashvibhute 0:30537dec6e0b 155 #endif