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
Diff: polled_camera/GetPolledImage.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 polled_camera/GetPolledImage.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/polled_camera/GetPolledImage.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,202 @@ +#ifndef _ROS_SERVICE_GetPolledImage_h +#define _ROS_SERVICE_GetPolledImage_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "sensor_msgs/RegionOfInterest.h" +#include "ros/duration.h" +#include "ros/time.h" + +namespace polled_camera +{ + +static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage"; + + class GetPolledImageRequest : public ros::Msg + { + public: + typedef const char* _response_namespace_type; + _response_namespace_type response_namespace; + typedef ros::Duration _timeout_type; + _timeout_type timeout; + typedef uint32_t _binning_x_type; + _binning_x_type binning_x; + typedef uint32_t _binning_y_type; + _binning_y_type binning_y; + typedef sensor_msgs::RegionOfInterest _roi_type; + _roi_type roi; + + GetPolledImageRequest(): + response_namespace(""), + timeout(), + binning_x(0), + binning_y(0), + roi() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_response_namespace = strlen(this->response_namespace); + varToArr(outbuffer + offset, length_response_namespace); + offset += 4; + memcpy(outbuffer + offset, this->response_namespace, length_response_namespace); + offset += length_response_namespace; + *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timeout.sec); + *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timeout.nsec); + *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; + offset += sizeof(this->binning_x); + *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; + offset += sizeof(this->binning_y); + offset += this->roi.serialize(outbuffer + offset); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_response_namespace; + arrToVar(length_response_namespace, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_response_namespace; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_response_namespace-1]=0; + this->response_namespace = (char *)(inbuffer + offset-1); + offset += length_response_namespace; + this->timeout.sec = ((uint32_t) (*(inbuffer + offset))); + this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timeout.sec); + this->timeout.nsec = ((uint32_t) (*(inbuffer + offset))); + this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timeout.nsec); + this->binning_x = ((uint32_t) (*(inbuffer + offset))); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->binning_x); + this->binning_y = ((uint32_t) (*(inbuffer + offset))); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->binning_y); + offset += this->roi.deserialize(inbuffer + offset); + return offset; + } + + const char * getType(){ return GETPOLLEDIMAGE; }; + const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; }; + + }; + + class GetPolledImageResponse : public ros::Msg + { + public: + typedef bool _success_type; + _success_type success; + typedef const char* _status_message_type; + _status_message_type status_message; + typedef ros::Time _stamp_type; + _stamp_type stamp; + + GetPolledImageResponse(): + success(0), + status_message(""), + stamp() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.real = this->success; + *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->success); + uint32_t length_status_message = strlen(this->status_message); + varToArr(outbuffer + offset, length_status_message); + offset += 4; + memcpy(outbuffer + offset, this->status_message, length_status_message); + offset += length_status_message; + *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.sec); + *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.nsec); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.base = 0; + u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->success = u_success.real; + offset += sizeof(this->success); + uint32_t length_status_message; + arrToVar(length_status_message, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_status_message; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_status_message-1]=0; + this->status_message = (char *)(inbuffer + offset-1); + offset += length_status_message; + this->stamp.sec = ((uint32_t) (*(inbuffer + offset))); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->stamp.sec); + this->stamp.nsec = ((uint32_t) (*(inbuffer + offset))); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->stamp.nsec); + return offset; + } + + const char * getType(){ return GETPOLLEDIMAGE; }; + const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; }; + + }; + + class GetPolledImage { + public: + typedef GetPolledImageRequest Request; + typedef GetPolledImageResponse Response; + }; + +} +#endif