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Diff: sensor_msgs/PointCloud2.h
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/PointCloud2.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,209 @@ +#ifndef ros_PointCloud2_h +#define ros_PointCloud2_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "std_msgs/Header.h" +#include "sensor_msgs/PointField.h" + +namespace sensor_msgs +{ + + class PointCloud2 : public ros::Msg + { + public: + std_msgs::Header header; + unsigned long height; + unsigned long width; + unsigned char fields_length; + sensor_msgs::PointField st_fields; + sensor_msgs::PointField * fields; + bool is_bigendian; + unsigned long point_step; + unsigned long row_step; + unsigned char data_length; + unsigned char st_data; + unsigned char * data; + bool is_dense; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + union { + unsigned long real; + unsigned long base; + } u_height; + u_height.real = this->height; + *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->height); + union { + unsigned long real; + unsigned long base; + } u_width; + u_width.real = this->width; + *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->width); + *(outbuffer + offset++) = fields_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < fields_length; i++){ + offset += this->fields[i].serialize(outbuffer + offset); + } + union { + bool real; + unsigned char base; + } u_is_bigendian; + u_is_bigendian.real = this->is_bigendian; + *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->is_bigendian); + union { + unsigned long real; + unsigned long base; + } u_point_step; + u_point_step.real = this->point_step; + *(outbuffer + offset + 0) = (u_point_step.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_point_step.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_point_step.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_point_step.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->point_step); + union { + unsigned long real; + unsigned long base; + } u_row_step; + u_row_step.real = this->row_step; + *(outbuffer + offset + 0) = (u_row_step.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_row_step.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_row_step.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_row_step.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->row_step); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < data_length; i++){ + union { + unsigned char real; + unsigned char base; + } u_datai; + u_datai.real = this->data[i]; + *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->data[i]); + } + union { + bool real; + unsigned char base; + } u_is_dense; + u_is_dense.real = this->is_dense; + *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->is_dense); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + union { + unsigned long real; + unsigned long base; + } u_height; + u_height.base = 0; + u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->height = u_height.real; + offset += sizeof(this->height); + union { + unsigned long real; + unsigned long base; + } u_width; + u_width.base = 0; + u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->width = u_width.real; + offset += sizeof(this->width); + unsigned char fields_lengthT = *(inbuffer + offset++); + if(fields_lengthT > fields_length) + this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField)); + offset += 3; + fields_length = fields_lengthT; + for( unsigned char i = 0; i < fields_length; i++){ + offset += this->st_fields.deserialize(inbuffer + offset); + memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField)); + } + union { + bool real; + unsigned char base; + } u_is_bigendian; + u_is_bigendian.base = 0; + u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0); + this->is_bigendian = u_is_bigendian.real; + offset += sizeof(this->is_bigendian); + union { + unsigned long real; + unsigned long base; + } u_point_step; + u_point_step.base = 0; + u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->point_step = u_point_step.real; + offset += sizeof(this->point_step); + union { + unsigned long real; + unsigned long base; + } u_row_step; + u_row_step.base = 0; + u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->row_step = u_row_step.real; + offset += sizeof(this->row_step); + unsigned char data_lengthT = *(inbuffer + offset++); + if(data_lengthT > data_length) + this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); + offset += 3; + data_length = data_lengthT; + for( unsigned char i = 0; i < data_length; i++){ + union { + unsigned char real; + unsigned char base; + } u_st_data; + u_st_data.base = 0; + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + this->st_data = u_st_data.real; + offset += sizeof(this->st_data); + memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); + } + union { + bool real; + unsigned char base; + } u_is_dense; + u_is_dense.base = 0; + u_is_dense.base |= ((typeof(u_is_dense.base)) (*(inbuffer + offset + 0))) << (8 * 0); + this->is_dense = u_is_dense.real; + offset += sizeof(this->is_dense); + return offset; + } + + virtual const char * getType(){ return "sensor_msgs/PointCloud2"; }; + + }; + +} +#endif \ No newline at end of file