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/Range.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_Range_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_sensor_msgs_Range_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 sensor_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class Range : 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 | typedef uint8_t _radiation_type_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _radiation_type_type radiation_type; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef float _field_of_view_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _field_of_view_type field_of_view; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef float _min_range_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _min_range_type min_range; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef float _max_range_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _max_range_type max_range; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef float _range_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _range_type range; |
garyservin | 0:9e9b7db60fd5 | 28 | enum { ULTRASOUND = 0 }; |
garyservin | 0:9e9b7db60fd5 | 29 | enum { INFRARED = 1 }; |
garyservin | 0:9e9b7db60fd5 | 30 | |
garyservin | 0:9e9b7db60fd5 | 31 | Range(): |
garyservin | 0:9e9b7db60fd5 | 32 | header(), |
garyservin | 0:9e9b7db60fd5 | 33 | radiation_type(0), |
garyservin | 0:9e9b7db60fd5 | 34 | field_of_view(0), |
garyservin | 0:9e9b7db60fd5 | 35 | min_range(0), |
garyservin | 0:9e9b7db60fd5 | 36 | max_range(0), |
garyservin | 0:9e9b7db60fd5 | 37 | range(0) |
garyservin | 0:9e9b7db60fd5 | 38 | { |
garyservin | 0:9e9b7db60fd5 | 39 | } |
garyservin | 0:9e9b7db60fd5 | 40 | |
garyservin | 0:9e9b7db60fd5 | 41 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 42 | { |
garyservin | 0:9e9b7db60fd5 | 43 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 44 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | offset += sizeof(this->radiation_type); |
garyservin | 0:9e9b7db60fd5 | 47 | union { |
garyservin | 0:9e9b7db60fd5 | 48 | float real; |
garyservin | 0:9e9b7db60fd5 | 49 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 50 | } u_field_of_view; |
garyservin | 0:9e9b7db60fd5 | 51 | u_field_of_view.real = this->field_of_view; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += sizeof(this->field_of_view); |
garyservin | 0:9e9b7db60fd5 | 57 | union { |
garyservin | 0:9e9b7db60fd5 | 58 | float real; |
garyservin | 0:9e9b7db60fd5 | 59 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 60 | } u_min_range; |
garyservin | 0:9e9b7db60fd5 | 61 | u_min_range.real = this->min_range; |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | offset += sizeof(this->min_range); |
garyservin | 0:9e9b7db60fd5 | 67 | union { |
garyservin | 0:9e9b7db60fd5 | 68 | float real; |
garyservin | 0:9e9b7db60fd5 | 69 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 70 | } u_max_range; |
garyservin | 0:9e9b7db60fd5 | 71 | u_max_range.real = this->max_range; |
garyservin | 0:9e9b7db60fd5 | 72 | *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | offset += sizeof(this->max_range); |
garyservin | 0:9e9b7db60fd5 | 77 | union { |
garyservin | 0:9e9b7db60fd5 | 78 | float real; |
garyservin | 0:9e9b7db60fd5 | 79 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 80 | } u_range; |
garyservin | 0:9e9b7db60fd5 | 81 | u_range.real = this->range; |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 86 | offset += sizeof(this->range); |
garyservin | 0:9e9b7db60fd5 | 87 | return offset; |
garyservin | 0:9e9b7db60fd5 | 88 | } |
garyservin | 0:9e9b7db60fd5 | 89 | |
garyservin | 0:9e9b7db60fd5 | 90 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 91 | { |
garyservin | 0:9e9b7db60fd5 | 92 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 93 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 94 | this->radiation_type = ((uint8_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 95 | offset += sizeof(this->radiation_type); |
garyservin | 0:9e9b7db60fd5 | 96 | union { |
garyservin | 0:9e9b7db60fd5 | 97 | float real; |
garyservin | 0:9e9b7db60fd5 | 98 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 99 | } u_field_of_view; |
garyservin | 0:9e9b7db60fd5 | 100 | u_field_of_view.base = 0; |
garyservin | 0:9e9b7db60fd5 | 101 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 102 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 103 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 104 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 105 | this->field_of_view = u_field_of_view.real; |
garyservin | 0:9e9b7db60fd5 | 106 | offset += sizeof(this->field_of_view); |
garyservin | 0:9e9b7db60fd5 | 107 | union { |
garyservin | 0:9e9b7db60fd5 | 108 | float real; |
garyservin | 0:9e9b7db60fd5 | 109 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 110 | } u_min_range; |
garyservin | 0:9e9b7db60fd5 | 111 | u_min_range.base = 0; |
garyservin | 0:9e9b7db60fd5 | 112 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 113 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 114 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 115 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 116 | this->min_range = u_min_range.real; |
garyservin | 0:9e9b7db60fd5 | 117 | offset += sizeof(this->min_range); |
garyservin | 0:9e9b7db60fd5 | 118 | union { |
garyservin | 0:9e9b7db60fd5 | 119 | float real; |
garyservin | 0:9e9b7db60fd5 | 120 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 121 | } u_max_range; |
garyservin | 0:9e9b7db60fd5 | 122 | u_max_range.base = 0; |
garyservin | 0:9e9b7db60fd5 | 123 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 124 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 125 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 126 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 127 | this->max_range = u_max_range.real; |
garyservin | 0:9e9b7db60fd5 | 128 | offset += sizeof(this->max_range); |
garyservin | 0:9e9b7db60fd5 | 129 | union { |
garyservin | 0:9e9b7db60fd5 | 130 | float real; |
garyservin | 0:9e9b7db60fd5 | 131 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 132 | } u_range; |
garyservin | 0:9e9b7db60fd5 | 133 | u_range.base = 0; |
garyservin | 0:9e9b7db60fd5 | 134 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 135 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 136 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 137 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 138 | this->range = u_range.real; |
garyservin | 0:9e9b7db60fd5 | 139 | offset += sizeof(this->range); |
garyservin | 0:9e9b7db60fd5 | 140 | return offset; |
garyservin | 0:9e9b7db60fd5 | 141 | } |
garyservin | 0:9e9b7db60fd5 | 142 | |
garyservin | 0:9e9b7db60fd5 | 143 | const char * getType(){ return "sensor_msgs/Range"; }; |
garyservin | 0:9e9b7db60fd5 | 144 | const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; }; |
garyservin | 0:9e9b7db60fd5 | 145 | |
garyservin | 0:9e9b7db60fd5 | 146 | }; |
garyservin | 0:9e9b7db60fd5 | 147 | |
garyservin | 0:9e9b7db60fd5 | 148 | } |
garyservin | 0:9e9b7db60fd5 | 149 | #endif |