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
nav_msgs/OccupancyGrid.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_nav_msgs_OccupancyGrid_h #define _ROS_nav_msgs_OccupancyGrid_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "nav_msgs/MapMetaData.h" namespace nav_msgs { class OccupancyGrid : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef nav_msgs::MapMetaData _info_type; _info_type info; uint32_t data_length; typedef int8_t _data_type; _data_type st_data; _data_type * data; OccupancyGrid(): header(), info(), data_length(0), data(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->info.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; offset += sizeof(this->data_length); for( uint32_t i = 0; i < data_length; i++){ union { int8_t real; uint8_t base; } u_datai; u_datai.real = this->data[i]; *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->info.deserialize(inbuffer + offset); uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->data_length); if(data_lengthT > data_length) this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t)); data_length = data_lengthT; for( uint32_t i = 0; i < data_length; i++){ union { int8_t real; uint8_t base; } u_st_data; u_st_data.base = 0; u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t)); } return offset; } const char * getType(){ return "nav_msgs/OccupancyGrid"; }; const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; }; }; } #endif