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
laser_assembler/AssembleScans.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_SERVICE_AssembleScans_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_AssembleScans_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/time.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "sensor_msgs/PointCloud.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace laser_assembler |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | static const char ASSEMBLESCANS[] = "laser_assembler/AssembleScans"; |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class AssembleScansRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef ros::Time _begin_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _begin_type begin; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef ros::Time _end_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _end_type end; |
garyservin | 0:9e9b7db60fd5 | 22 | |
garyservin | 0:9e9b7db60fd5 | 23 | AssembleScansRequest(): |
garyservin | 0:9e9b7db60fd5 | 24 | begin(), |
garyservin | 0:9e9b7db60fd5 | 25 | end() |
garyservin | 0:9e9b7db60fd5 | 26 | { |
garyservin | 0:9e9b7db60fd5 | 27 | } |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 30 | { |
garyservin | 0:9e9b7db60fd5 | 31 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 32 | *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 33 | *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 34 | *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 35 | *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 36 | offset += sizeof(this->begin.sec); |
garyservin | 0:9e9b7db60fd5 | 37 | *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 38 | *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | offset += sizeof(this->begin.nsec); |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | offset += sizeof(this->end.sec); |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 49 | *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | offset += sizeof(this->end.nsec); |
garyservin | 0:9e9b7db60fd5 | 52 | return offset; |
garyservin | 0:9e9b7db60fd5 | 53 | } |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 56 | { |
garyservin | 0:9e9b7db60fd5 | 57 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 58 | this->begin.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 59 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 60 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 61 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 62 | offset += sizeof(this->begin.sec); |
garyservin | 0:9e9b7db60fd5 | 63 | this->begin.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 64 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 65 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 66 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->begin.nsec); |
garyservin | 0:9e9b7db60fd5 | 68 | this->end.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 69 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 70 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 71 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 72 | offset += sizeof(this->end.sec); |
garyservin | 0:9e9b7db60fd5 | 73 | this->end.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 74 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 75 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 76 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->end.nsec); |
garyservin | 0:9e9b7db60fd5 | 78 | return offset; |
garyservin | 0:9e9b7db60fd5 | 79 | } |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | const char * getType(){ return ASSEMBLESCANS; }; |
garyservin | 0:9e9b7db60fd5 | 82 | const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; }; |
garyservin | 0:9e9b7db60fd5 | 83 | |
garyservin | 0:9e9b7db60fd5 | 84 | }; |
garyservin | 0:9e9b7db60fd5 | 85 | |
garyservin | 0:9e9b7db60fd5 | 86 | class AssembleScansResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 87 | { |
garyservin | 0:9e9b7db60fd5 | 88 | public: |
garyservin | 0:9e9b7db60fd5 | 89 | typedef sensor_msgs::PointCloud _cloud_type; |
garyservin | 0:9e9b7db60fd5 | 90 | _cloud_type cloud; |
garyservin | 0:9e9b7db60fd5 | 91 | |
garyservin | 0:9e9b7db60fd5 | 92 | AssembleScansResponse(): |
garyservin | 0:9e9b7db60fd5 | 93 | cloud() |
garyservin | 0:9e9b7db60fd5 | 94 | { |
garyservin | 0:9e9b7db60fd5 | 95 | } |
garyservin | 0:9e9b7db60fd5 | 96 | |
garyservin | 0:9e9b7db60fd5 | 97 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 98 | { |
garyservin | 0:9e9b7db60fd5 | 99 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 100 | offset += this->cloud.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 101 | return offset; |
garyservin | 0:9e9b7db60fd5 | 102 | } |
garyservin | 0:9e9b7db60fd5 | 103 | |
garyservin | 0:9e9b7db60fd5 | 104 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 105 | { |
garyservin | 0:9e9b7db60fd5 | 106 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 107 | offset += this->cloud.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 108 | return offset; |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | |
garyservin | 0:9e9b7db60fd5 | 111 | const char * getType(){ return ASSEMBLESCANS; }; |
garyservin | 0:9e9b7db60fd5 | 112 | const char * getMD5(){ return "4217b28a903e4ad7869a83b3653110ff"; }; |
garyservin | 0:9e9b7db60fd5 | 113 | |
garyservin | 0:9e9b7db60fd5 | 114 | }; |
garyservin | 0:9e9b7db60fd5 | 115 | |
garyservin | 0:9e9b7db60fd5 | 116 | class AssembleScans { |
garyservin | 0:9e9b7db60fd5 | 117 | public: |
garyservin | 0:9e9b7db60fd5 | 118 | typedef AssembleScansRequest Request; |
garyservin | 0:9e9b7db60fd5 | 119 | typedef AssembleScansResponse Response; |
garyservin | 0:9e9b7db60fd5 | 120 | }; |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | #endif |