John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

pcl_msgs/ModelCoefficients.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_pcl_msgs_ModelCoefficients_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_pcl_msgs_ModelCoefficients_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace pcl_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class ModelCoefficients : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 uint32_t values_length;
Gary Servin 0:04ac6be8229a 19 typedef float _values_type;
Gary Servin 0:04ac6be8229a 20 _values_type st_values;
Gary Servin 0:04ac6be8229a 21 _values_type * values;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 ModelCoefficients():
Gary Servin 0:04ac6be8229a 24 header(),
Gary Servin 0:04ac6be8229a 25 values_length(0), values(NULL)
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 int offset = 0;
Gary Servin 0:04ac6be8229a 32 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 38 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 39 union {
Gary Servin 0:04ac6be8229a 40 float real;
Gary Servin 0:04ac6be8229a 41 uint32_t base;
Gary Servin 0:04ac6be8229a 42 } u_valuesi;
Gary Servin 0:04ac6be8229a 43 u_valuesi.real = this->values[i];
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 offset += sizeof(this->values[i]);
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50 return offset;
Gary Servin 0:04ac6be8229a 51 }
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 54 {
Gary Servin 0:04ac6be8229a 55 int offset = 0;
Gary Servin 0:04ac6be8229a 56 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 57 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 58 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 59 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 60 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 62 if(values_lengthT > values_length)
Gary Servin 0:04ac6be8229a 63 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 64 values_length = values_lengthT;
Gary Servin 0:04ac6be8229a 65 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 66 union {
Gary Servin 0:04ac6be8229a 67 float real;
Gary Servin 0:04ac6be8229a 68 uint32_t base;
Gary Servin 0:04ac6be8229a 69 } u_st_values;
Gary Servin 0:04ac6be8229a 70 u_st_values.base = 0;
Gary Servin 0:04ac6be8229a 71 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 72 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 73 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 74 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 75 this->st_values = u_st_values.real;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->st_values);
Gary Servin 0:04ac6be8229a 77 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79 return offset;
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 const char * getType(){ return "pcl_msgs/ModelCoefficients"; };
Gary Servin 0:04ac6be8229a 83 const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; };
Gary Servin 0:04ac6be8229a 84
Gary Servin 0:04ac6be8229a 85 };
Gary Servin 0:04ac6be8229a 86
Gary Servin 0:04ac6be8229a 87 }
Gary Servin 0:04ac6be8229a 88 #endif