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

sensor_msgs/NavSatFix.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_sensor_msgs_NavSatFix_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_NavSatFix_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 #include "sensor_msgs/NavSatStatus.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class NavSatFix : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 18 _header_type header;
Gary Servin 0:04ac6be8229a 19 typedef sensor_msgs::NavSatStatus _status_type;
Gary Servin 0:04ac6be8229a 20 _status_type status;
Gary Servin 0:04ac6be8229a 21 typedef double _latitude_type;
Gary Servin 0:04ac6be8229a 22 _latitude_type latitude;
Gary Servin 0:04ac6be8229a 23 typedef double _longitude_type;
Gary Servin 0:04ac6be8229a 24 _longitude_type longitude;
Gary Servin 0:04ac6be8229a 25 typedef double _altitude_type;
Gary Servin 0:04ac6be8229a 26 _altitude_type altitude;
Gary Servin 0:04ac6be8229a 27 double position_covariance[9];
Gary Servin 0:04ac6be8229a 28 typedef uint8_t _position_covariance_type_type;
Gary Servin 0:04ac6be8229a 29 _position_covariance_type_type position_covariance_type;
Gary Servin 0:04ac6be8229a 30 enum { COVARIANCE_TYPE_UNKNOWN = 0 };
Gary Servin 0:04ac6be8229a 31 enum { COVARIANCE_TYPE_APPROXIMATED = 1 };
Gary Servin 0:04ac6be8229a 32 enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 };
Gary Servin 0:04ac6be8229a 33 enum { COVARIANCE_TYPE_KNOWN = 3 };
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 NavSatFix():
Gary Servin 0:04ac6be8229a 36 header(),
Gary Servin 0:04ac6be8229a 37 status(),
Gary Servin 0:04ac6be8229a 38 latitude(0),
Gary Servin 0:04ac6be8229a 39 longitude(0),
Gary Servin 0:04ac6be8229a 40 altitude(0),
Gary Servin 0:04ac6be8229a 41 position_covariance(),
Gary Servin 0:04ac6be8229a 42 position_covariance_type(0)
Gary Servin 0:04ac6be8229a 43 {
Gary Servin 0:04ac6be8229a 44 }
Gary Servin 0:04ac6be8229a 45
Gary Servin 0:04ac6be8229a 46 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 47 {
Gary Servin 0:04ac6be8229a 48 int offset = 0;
Gary Servin 0:04ac6be8229a 49 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 50 offset += this->status.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 51 union {
Gary Servin 0:04ac6be8229a 52 double real;
Gary Servin 0:04ac6be8229a 53 uint64_t base;
Gary Servin 0:04ac6be8229a 54 } u_latitude;
Gary Servin 0:04ac6be8229a 55 u_latitude.real = this->latitude;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->latitude);
Gary Servin 0:04ac6be8229a 65 union {
Gary Servin 0:04ac6be8229a 66 double real;
Gary Servin 0:04ac6be8229a 67 uint64_t base;
Gary Servin 0:04ac6be8229a 68 } u_longitude;
Gary Servin 0:04ac6be8229a 69 u_longitude.real = this->longitude;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->longitude);
Gary Servin 0:04ac6be8229a 79 union {
Gary Servin 0:04ac6be8229a 80 double real;
Gary Servin 0:04ac6be8229a 81 uint64_t base;
Gary Servin 0:04ac6be8229a 82 } u_altitude;
Gary Servin 0:04ac6be8229a 83 u_altitude.real = this->altitude;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 88 *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 89 *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 90 *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->altitude);
Gary Servin 0:04ac6be8229a 93 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 94 union {
Gary Servin 0:04ac6be8229a 95 double real;
Gary Servin 0:04ac6be8229a 96 uint64_t base;
Gary Servin 0:04ac6be8229a 97 } u_position_covariancei;
Gary Servin 0:04ac6be8229a 98 u_position_covariancei.real = this->position_covariance[i];
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 102 *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 103 *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 104 *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 105 *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 106 *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 107 offset += sizeof(this->position_covariance[i]);
Gary Servin 0:04ac6be8229a 108 }
Gary Servin 0:04ac6be8229a 109 *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 110 offset += sizeof(this->position_covariance_type);
Gary Servin 0:04ac6be8229a 111 return offset;
Gary Servin 0:04ac6be8229a 112 }
Gary Servin 0:04ac6be8229a 113
Gary Servin 0:04ac6be8229a 114 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 115 {
Gary Servin 0:04ac6be8229a 116 int offset = 0;
Gary Servin 0:04ac6be8229a 117 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 118 offset += this->status.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 119 union {
Gary Servin 0:04ac6be8229a 120 double real;
Gary Servin 0:04ac6be8229a 121 uint64_t base;
Gary Servin 0:04ac6be8229a 122 } u_latitude;
Gary Servin 0:04ac6be8229a 123 u_latitude.base = 0;
Gary Servin 0:04ac6be8229a 124 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 125 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 126 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 127 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 128 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 129 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 130 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 131 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 132 this->latitude = u_latitude.real;
Gary Servin 0:04ac6be8229a 133 offset += sizeof(this->latitude);
Gary Servin 0:04ac6be8229a 134 union {
Gary Servin 0:04ac6be8229a 135 double real;
Gary Servin 0:04ac6be8229a 136 uint64_t base;
Gary Servin 0:04ac6be8229a 137 } u_longitude;
Gary Servin 0:04ac6be8229a 138 u_longitude.base = 0;
Gary Servin 0:04ac6be8229a 139 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 140 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 141 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 142 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 143 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 144 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 145 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 146 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 147 this->longitude = u_longitude.real;
Gary Servin 0:04ac6be8229a 148 offset += sizeof(this->longitude);
Gary Servin 0:04ac6be8229a 149 union {
Gary Servin 0:04ac6be8229a 150 double real;
Gary Servin 0:04ac6be8229a 151 uint64_t base;
Gary Servin 0:04ac6be8229a 152 } u_altitude;
Gary Servin 0:04ac6be8229a 153 u_altitude.base = 0;
Gary Servin 0:04ac6be8229a 154 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 155 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 156 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 157 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 158 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 159 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 160 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 161 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 162 this->altitude = u_altitude.real;
Gary Servin 0:04ac6be8229a 163 offset += sizeof(this->altitude);
Gary Servin 0:04ac6be8229a 164 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 165 union {
Gary Servin 0:04ac6be8229a 166 double real;
Gary Servin 0:04ac6be8229a 167 uint64_t base;
Gary Servin 0:04ac6be8229a 168 } u_position_covariancei;
Gary Servin 0:04ac6be8229a 169 u_position_covariancei.base = 0;
Gary Servin 0:04ac6be8229a 170 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 171 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 172 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 173 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 174 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 175 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 176 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 177 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 178 this->position_covariance[i] = u_position_covariancei.real;
Gary Servin 0:04ac6be8229a 179 offset += sizeof(this->position_covariance[i]);
Gary Servin 0:04ac6be8229a 180 }
Gary Servin 0:04ac6be8229a 181 this->position_covariance_type = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 182 offset += sizeof(this->position_covariance_type);
Gary Servin 0:04ac6be8229a 183 return offset;
Gary Servin 0:04ac6be8229a 184 }
Gary Servin 0:04ac6be8229a 185
Gary Servin 0:04ac6be8229a 186 const char * getType(){ return "sensor_msgs/NavSatFix"; };
Gary Servin 0:04ac6be8229a 187 const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
Gary Servin 0:04ac6be8229a 188
Gary Servin 0:04ac6be8229a 189 };
Gary Servin 0:04ac6be8229a 190
Gary Servin 0:04ac6be8229a 191 }
Gary Servin 0:04ac6be8229a 192 #endif