ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
sensor_msgs/LaserEcho.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_sensor_msgs_LaserEcho_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_sensor_msgs_LaserEcho_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 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace sensor_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class LaserEcho : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | uint32_t echoes_length; |
garyservin | 0:9e9b7db60fd5 | 16 | typedef float _echoes_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _echoes_type st_echoes; |
garyservin | 0:9e9b7db60fd5 | 18 | _echoes_type * echoes; |
garyservin | 0:9e9b7db60fd5 | 19 | |
garyservin | 0:9e9b7db60fd5 | 20 | LaserEcho(): |
garyservin | 0:9e9b7db60fd5 | 21 | echoes_length(0), echoes(NULL) |
garyservin | 0:9e9b7db60fd5 | 22 | { |
garyservin | 0:9e9b7db60fd5 | 23 | } |
garyservin | 0:9e9b7db60fd5 | 24 | |
garyservin | 0:9e9b7db60fd5 | 25 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 26 | { |
garyservin | 0:9e9b7db60fd5 | 27 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 28 | *(outbuffer + offset + 0) = (this->echoes_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 29 | *(outbuffer + offset + 1) = (this->echoes_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 30 | *(outbuffer + offset + 2) = (this->echoes_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 31 | *(outbuffer + offset + 3) = (this->echoes_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 32 | offset += sizeof(this->echoes_length); |
garyservin | 0:9e9b7db60fd5 | 33 | for( uint32_t i = 0; i < echoes_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 34 | union { |
garyservin | 0:9e9b7db60fd5 | 35 | float real; |
garyservin | 0:9e9b7db60fd5 | 36 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 37 | } u_echoesi; |
garyservin | 0:9e9b7db60fd5 | 38 | u_echoesi.real = this->echoes[i]; |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | offset += sizeof(this->echoes[i]); |
garyservin | 0:9e9b7db60fd5 | 44 | } |
garyservin | 0:9e9b7db60fd5 | 45 | return offset; |
garyservin | 0:9e9b7db60fd5 | 46 | } |
garyservin | 0:9e9b7db60fd5 | 47 | |
garyservin | 0:9e9b7db60fd5 | 48 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 49 | { |
garyservin | 0:9e9b7db60fd5 | 50 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 51 | uint32_t echoes_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 52 | echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 53 | echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 54 | echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 55 | offset += sizeof(this->echoes_length); |
garyservin | 0:9e9b7db60fd5 | 56 | if(echoes_lengthT > echoes_length) |
garyservin | 0:9e9b7db60fd5 | 57 | this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 58 | echoes_length = echoes_lengthT; |
garyservin | 0:9e9b7db60fd5 | 59 | for( uint32_t i = 0; i < echoes_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 60 | union { |
garyservin | 0:9e9b7db60fd5 | 61 | float real; |
garyservin | 0:9e9b7db60fd5 | 62 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 63 | } u_st_echoes; |
garyservin | 0:9e9b7db60fd5 | 64 | u_st_echoes.base = 0; |
garyservin | 0:9e9b7db60fd5 | 65 | u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 66 | u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 67 | u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 68 | u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 69 | this->st_echoes = u_st_echoes.real; |
garyservin | 0:9e9b7db60fd5 | 70 | offset += sizeof(this->st_echoes); |
garyservin | 0:9e9b7db60fd5 | 71 | memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | return offset; |
garyservin | 0:9e9b7db60fd5 | 74 | } |
garyservin | 0:9e9b7db60fd5 | 75 | |
garyservin | 0:9e9b7db60fd5 | 76 | const char * getType(){ return "sensor_msgs/LaserEcho"; }; |
garyservin | 0:9e9b7db60fd5 | 77 | const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; }; |
garyservin | 0:9e9b7db60fd5 | 78 | |
garyservin | 0:9e9b7db60fd5 | 79 | }; |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | } |
garyservin | 0:9e9b7db60fd5 | 82 | #endif |