Gary Servin / rosserial_mbed_lib

Personal fork

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

nav_msgs/GridCells.h@3:1cf99502f396, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:54:45 2011 +0000
Revision:
3:1cf99502f396
Parent:
1:ff0ec969dad1 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_nav_msgs_GridCells_h
nucho 3:1cf99502f396 2 #define _ROS_nav_msgs_GridCells_h
nucho 0:77afd7560544 3
nucho 0:77afd7560544 4 #include <stdint.h>
nucho 0:77afd7560544 5 #include <string.h>
nucho 0:77afd7560544 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 0:77afd7560544 8 #include "std_msgs/Header.h"
nucho 0:77afd7560544 9 #include "geometry_msgs/Point.h"
nucho 0:77afd7560544 10
nucho 0:77afd7560544 11 namespace nav_msgs
nucho 0:77afd7560544 12 {
nucho 0:77afd7560544 13
nucho 0:77afd7560544 14 class GridCells : public ros::Msg
nucho 0:77afd7560544 15 {
nucho 0:77afd7560544 16 public:
nucho 0:77afd7560544 17 std_msgs::Header header;
nucho 0:77afd7560544 18 float cell_width;
nucho 0:77afd7560544 19 float cell_height;
nucho 3:1cf99502f396 20 uint8_t cells_length;
nucho 0:77afd7560544 21 geometry_msgs::Point st_cells;
nucho 0:77afd7560544 22 geometry_msgs::Point * cells;
nucho 0:77afd7560544 23
nucho 3:1cf99502f396 24 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 25 {
nucho 0:77afd7560544 26 int offset = 0;
nucho 0:77afd7560544 27 offset += this->header.serialize(outbuffer + offset);
nucho 0:77afd7560544 28 union {
nucho 0:77afd7560544 29 float real;
nucho 3:1cf99502f396 30 uint32_t base;
nucho 0:77afd7560544 31 } u_cell_width;
nucho 0:77afd7560544 32 u_cell_width.real = this->cell_width;
nucho 0:77afd7560544 33 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 34 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 35 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 36 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 37 offset += sizeof(this->cell_width);
nucho 0:77afd7560544 38 union {
nucho 0:77afd7560544 39 float real;
nucho 3:1cf99502f396 40 uint32_t base;
nucho 0:77afd7560544 41 } u_cell_height;
nucho 0:77afd7560544 42 u_cell_height.real = this->cell_height;
nucho 0:77afd7560544 43 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 44 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 45 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 46 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 47 offset += sizeof(this->cell_height);
nucho 0:77afd7560544 48 *(outbuffer + offset++) = cells_length;
nucho 0:77afd7560544 49 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 50 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 51 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 52 for( uint8_t i = 0; i < cells_length; i++){
nucho 0:77afd7560544 53 offset += this->cells[i].serialize(outbuffer + offset);
nucho 0:77afd7560544 54 }
nucho 0:77afd7560544 55 return offset;
nucho 0:77afd7560544 56 }
nucho 0:77afd7560544 57
nucho 0:77afd7560544 58 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 59 {
nucho 0:77afd7560544 60 int offset = 0;
nucho 0:77afd7560544 61 offset += this->header.deserialize(inbuffer + offset);
nucho 0:77afd7560544 62 union {
nucho 0:77afd7560544 63 float real;
nucho 3:1cf99502f396 64 uint32_t base;
nucho 0:77afd7560544 65 } u_cell_width;
nucho 0:77afd7560544 66 u_cell_width.base = 0;
nucho 3:1cf99502f396 67 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 68 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 69 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:1cf99502f396 70 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 71 this->cell_width = u_cell_width.real;
nucho 0:77afd7560544 72 offset += sizeof(this->cell_width);
nucho 0:77afd7560544 73 union {
nucho 0:77afd7560544 74 float real;
nucho 3:1cf99502f396 75 uint32_t base;
nucho 0:77afd7560544 76 } u_cell_height;
nucho 0:77afd7560544 77 u_cell_height.base = 0;
nucho 3:1cf99502f396 78 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 79 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 80 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:1cf99502f396 81 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 82 this->cell_height = u_cell_height.real;
nucho 0:77afd7560544 83 offset += sizeof(this->cell_height);
nucho 3:1cf99502f396 84 uint8_t cells_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 85 if(cells_lengthT > cells_length)
nucho 0:77afd7560544 86 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
nucho 0:77afd7560544 87 offset += 3;
nucho 0:77afd7560544 88 cells_length = cells_lengthT;
nucho 3:1cf99502f396 89 for( uint8_t i = 0; i < cells_length; i++){
nucho 0:77afd7560544 90 offset += this->st_cells.deserialize(inbuffer + offset);
nucho 0:77afd7560544 91 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
nucho 0:77afd7560544 92 }
nucho 0:77afd7560544 93 return offset;
nucho 0:77afd7560544 94 }
nucho 0:77afd7560544 95
nucho 3:1cf99502f396 96 virtual const char * getType(){ return "nav_msgs/GridCells"; };
nucho 3:1cf99502f396 97 virtual const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
nucho 0:77afd7560544 98
nucho 0:77afd7560544 99 };
nucho 0:77afd7560544 100
nucho 0:77afd7560544 101 }
nucho 0:77afd7560544 102 #endif