John Lam / ros_lib_melodic_

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

visualization_msgs/InteractiveMarkerUpdate.h@2:4480021e9f58, 23 months ago (annotated)

Committer:
howanglam3
Date:
Thu Aug 18 07:35:12 2022 +0000
Revision:
2:4480021e9f58
Parent:
0:04ac6be8229a 
unchanged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_visualization_msgs_InteractiveMarkerUpdate_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_visualization_msgs_InteractiveMarkerUpdate_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 "visualization_msgs/InteractiveMarker.h"
Gary Servin 0:04ac6be8229a 9 #include "visualization_msgs/InteractiveMarkerPose.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace visualization_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class InteractiveMarkerUpdate : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef const char* _server_id_type;
Gary Servin 0:04ac6be8229a 18 _server_id_type server_id;
Gary Servin 0:04ac6be8229a 19 typedef uint64_t _seq_num_type;
Gary Servin 0:04ac6be8229a 20 _seq_num_type seq_num;
Gary Servin 0:04ac6be8229a 21 typedef uint8_t _type_type;
Gary Servin 0:04ac6be8229a 22 _type_type type;
Gary Servin 0:04ac6be8229a 23 uint32_t markers_length;
Gary Servin 0:04ac6be8229a 24 typedef visualization_msgs::InteractiveMarker _markers_type;
Gary Servin 0:04ac6be8229a 25 _markers_type st_markers;
Gary Servin 0:04ac6be8229a 26 _markers_type * markers;
Gary Servin 0:04ac6be8229a 27 uint32_t poses_length;
Gary Servin 0:04ac6be8229a 28 typedef visualization_msgs::InteractiveMarkerPose _poses_type;
Gary Servin 0:04ac6be8229a 29 _poses_type st_poses;
Gary Servin 0:04ac6be8229a 30 _poses_type * poses;
Gary Servin 0:04ac6be8229a 31 uint32_t erases_length;
Gary Servin 0:04ac6be8229a 32 typedef char* _erases_type;
Gary Servin 0:04ac6be8229a 33 _erases_type st_erases;
Gary Servin 0:04ac6be8229a 34 _erases_type * erases;
Gary Servin 0:04ac6be8229a 35 enum { KEEP_ALIVE = 0 };
Gary Servin 0:04ac6be8229a 36 enum { UPDATE = 1 };
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 InteractiveMarkerUpdate():
Gary Servin 0:04ac6be8229a 39 server_id(""),
Gary Servin 0:04ac6be8229a 40 seq_num(0),
Gary Servin 0:04ac6be8229a 41 type(0),
Gary Servin 0:04ac6be8229a 42 markers_length(0), markers(NULL),
Gary Servin 0:04ac6be8229a 43 poses_length(0), poses(NULL),
Gary Servin 0:04ac6be8229a 44 erases_length(0), erases(NULL)
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 }
Gary Servin 0:04ac6be8229a 47
Gary Servin 0:04ac6be8229a 48 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 int offset = 0;
Gary Servin 0:04ac6be8229a 51 uint32_t length_server_id = strlen(this->server_id);
Gary Servin 0:04ac6be8229a 52 varToArr(outbuffer + offset, length_server_id);
Gary Servin 0:04ac6be8229a 53 offset += 4;
Gary Servin 0:04ac6be8229a 54 memcpy(outbuffer + offset, this->server_id, length_server_id);
Gary Servin 0:04ac6be8229a 55 offset += length_server_id;
Gary Servin 0:04ac6be8229a 56 union {
Gary Servin 0:04ac6be8229a 57 uint64_t real;
Gary Servin 0:04ac6be8229a 58 uint32_t base;
Gary Servin 0:04ac6be8229a 59 } u_seq_num;
Gary Servin 0:04ac6be8229a 60 u_seq_num.real = this->seq_num;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 offset += sizeof(this->seq_num);
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->type);
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 offset += sizeof(this->markers_length);
Gary Servin 0:04ac6be8229a 73 for( uint32_t i = 0; i < markers_length; i++){
Gary Servin 0:04ac6be8229a 74 offset += this->markers[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 75 }
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 offset += sizeof(this->poses_length);
Gary Servin 0:04ac6be8229a 81 for( uint32_t i = 0; i < poses_length; i++){
Gary Servin 0:04ac6be8229a 82 offset += this->poses[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 83 }
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 88 offset += sizeof(this->erases_length);
Gary Servin 0:04ac6be8229a 89 for( uint32_t i = 0; i < erases_length; i++){
Gary Servin 0:04ac6be8229a 90 uint32_t length_erasesi = strlen(this->erases[i]);
Gary Servin 0:04ac6be8229a 91 varToArr(outbuffer + offset, length_erasesi);
Gary Servin 0:04ac6be8229a 92 offset += 4;
Gary Servin 0:04ac6be8229a 93 memcpy(outbuffer + offset, this->erases[i], length_erasesi);
Gary Servin 0:04ac6be8229a 94 offset += length_erasesi;
Gary Servin 0:04ac6be8229a 95 }
Gary Servin 0:04ac6be8229a 96 return offset;
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 100 {
Gary Servin 0:04ac6be8229a 101 int offset = 0;
Gary Servin 0:04ac6be8229a 102 uint32_t length_server_id;
Gary Servin 0:04ac6be8229a 103 arrToVar(length_server_id, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 104 offset += 4;
Gary Servin 0:04ac6be8229a 105 for(unsigned int k= offset; k< offset+length_server_id; ++k){
Gary Servin 0:04ac6be8229a 106 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108 inbuffer[offset+length_server_id-1]=0;
Gary Servin 0:04ac6be8229a 109 this->server_id = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 110 offset += length_server_id;
Gary Servin 0:04ac6be8229a 111 union {
Gary Servin 0:04ac6be8229a 112 uint64_t real;
Gary Servin 0:04ac6be8229a 113 uint32_t base;
Gary Servin 0:04ac6be8229a 114 } u_seq_num;
Gary Servin 0:04ac6be8229a 115 u_seq_num.base = 0;
Gary Servin 0:04ac6be8229a 116 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 117 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 118 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 119 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 120 this->seq_num = u_seq_num.real;
Gary Servin 0:04ac6be8229a 121 offset += sizeof(this->seq_num);
Gary Servin 0:04ac6be8229a 122 this->type = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 123 offset += sizeof(this->type);
Gary Servin 0:04ac6be8229a 124 uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 125 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 126 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 127 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 128 offset += sizeof(this->markers_length);
Gary Servin 0:04ac6be8229a 129 if(markers_lengthT > markers_length)
Gary Servin 0:04ac6be8229a 130 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
Gary Servin 0:04ac6be8229a 131 markers_length = markers_lengthT;
Gary Servin 0:04ac6be8229a 132 for( uint32_t i = 0; i < markers_length; i++){
Gary Servin 0:04ac6be8229a 133 offset += this->st_markers.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 134 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
Gary Servin 0:04ac6be8229a 135 }
Gary Servin 0:04ac6be8229a 136 uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 137 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 138 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 139 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 140 offset += sizeof(this->poses_length);
Gary Servin 0:04ac6be8229a 141 if(poses_lengthT > poses_length)
Gary Servin 0:04ac6be8229a 142 this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
Gary Servin 0:04ac6be8229a 143 poses_length = poses_lengthT;
Gary Servin 0:04ac6be8229a 144 for( uint32_t i = 0; i < poses_length; i++){
Gary Servin 0:04ac6be8229a 145 offset += this->st_poses.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 146 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
Gary Servin 0:04ac6be8229a 147 }
Gary Servin 0:04ac6be8229a 148 uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 149 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 150 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 151 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 152 offset += sizeof(this->erases_length);
Gary Servin 0:04ac6be8229a 153 if(erases_lengthT > erases_length)
Gary Servin 0:04ac6be8229a 154 this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 155 erases_length = erases_lengthT;
Gary Servin 0:04ac6be8229a 156 for( uint32_t i = 0; i < erases_length; i++){
Gary Servin 0:04ac6be8229a 157 uint32_t length_st_erases;
Gary Servin 0:04ac6be8229a 158 arrToVar(length_st_erases, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 159 offset += 4;
Gary Servin 0:04ac6be8229a 160 for(unsigned int k= offset; k< offset+length_st_erases; ++k){
Gary Servin 0:04ac6be8229a 161 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163 inbuffer[offset+length_st_erases-1]=0;
Gary Servin 0:04ac6be8229a 164 this->st_erases = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 165 offset += length_st_erases;
Gary Servin 0:04ac6be8229a 166 memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
Gary Servin 0:04ac6be8229a 167 }
Gary Servin 0:04ac6be8229a 168 return offset;
Gary Servin 0:04ac6be8229a 169 }
Gary Servin 0:04ac6be8229a 170
Gary Servin 0:04ac6be8229a 171 const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
Gary Servin 0:04ac6be8229a 172 const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; };
Gary Servin 0:04ac6be8229a 173
Gary Servin 0:04ac6be8229a 174 };
Gary Servin 0:04ac6be8229a 175
Gary Servin 0:04ac6be8229a 176 }
Gary Servin 0:04ac6be8229a 177 #endif