Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/LaserScan.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_LaserScan_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_LaserScan_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class LaserScan : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef float _angle_min_type;
garyservin 0:9e9b7db60fd5 19 _angle_min_type angle_min;
garyservin 0:9e9b7db60fd5 20 typedef float _angle_max_type;
garyservin 0:9e9b7db60fd5 21 _angle_max_type angle_max;
garyservin 0:9e9b7db60fd5 22 typedef float _angle_increment_type;
garyservin 0:9e9b7db60fd5 23 _angle_increment_type angle_increment;
garyservin 0:9e9b7db60fd5 24 typedef float _time_increment_type;
garyservin 0:9e9b7db60fd5 25 _time_increment_type time_increment;
garyservin 0:9e9b7db60fd5 26 typedef float _scan_time_type;
garyservin 0:9e9b7db60fd5 27 _scan_time_type scan_time;
garyservin 0:9e9b7db60fd5 28 typedef float _range_min_type;
garyservin 0:9e9b7db60fd5 29 _range_min_type range_min;
garyservin 0:9e9b7db60fd5 30 typedef float _range_max_type;
garyservin 0:9e9b7db60fd5 31 _range_max_type range_max;
garyservin 0:9e9b7db60fd5 32 uint32_t ranges_length;
garyservin 0:9e9b7db60fd5 33 typedef float _ranges_type;
garyservin 0:9e9b7db60fd5 34 _ranges_type st_ranges;
garyservin 0:9e9b7db60fd5 35 _ranges_type * ranges;
garyservin 0:9e9b7db60fd5 36 uint32_t intensities_length;
garyservin 0:9e9b7db60fd5 37 typedef float _intensities_type;
garyservin 0:9e9b7db60fd5 38 _intensities_type st_intensities;
garyservin 0:9e9b7db60fd5 39 _intensities_type * intensities;
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 LaserScan():
garyservin 0:9e9b7db60fd5 42 header(),
garyservin 0:9e9b7db60fd5 43 angle_min(0),
garyservin 0:9e9b7db60fd5 44 angle_max(0),
garyservin 0:9e9b7db60fd5 45 angle_increment(0),
garyservin 0:9e9b7db60fd5 46 time_increment(0),
garyservin 0:9e9b7db60fd5 47 scan_time(0),
garyservin 0:9e9b7db60fd5 48 range_min(0),
garyservin 0:9e9b7db60fd5 49 range_max(0),
garyservin 0:9e9b7db60fd5 50 ranges_length(0), ranges(NULL),
garyservin 0:9e9b7db60fd5 51 intensities_length(0), intensities(NULL)
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 int offset = 0;
garyservin 0:9e9b7db60fd5 58 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 float real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_angle_min;
garyservin 0:9e9b7db60fd5 63 u_angle_min.real = this->angle_min;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 float real;
garyservin 0:9e9b7db60fd5 71 uint32_t base;
garyservin 0:9e9b7db60fd5 72 } u_angle_max;
garyservin 0:9e9b7db60fd5 73 u_angle_max.real = this->angle_max;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 79 union {
garyservin 0:9e9b7db60fd5 80 float real;
garyservin 0:9e9b7db60fd5 81 uint32_t base;
garyservin 0:9e9b7db60fd5 82 } u_angle_increment;
garyservin 0:9e9b7db60fd5 83 u_angle_increment.real = this->angle_increment;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 float real;
garyservin 0:9e9b7db60fd5 91 uint32_t base;
garyservin 0:9e9b7db60fd5 92 } u_time_increment;
garyservin 0:9e9b7db60fd5 93 u_time_increment.real = this->time_increment;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 float real;
garyservin 0:9e9b7db60fd5 101 uint32_t base;
garyservin 0:9e9b7db60fd5 102 } u_scan_time;
garyservin 0:9e9b7db60fd5 103 u_scan_time.real = this->scan_time;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 109 union {
garyservin 0:9e9b7db60fd5 110 float real;
garyservin 0:9e9b7db60fd5 111 uint32_t base;
garyservin 0:9e9b7db60fd5 112 } u_range_min;
garyservin 0:9e9b7db60fd5 113 u_range_min.real = this->range_min;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 119 union {
garyservin 0:9e9b7db60fd5 120 float real;
garyservin 0:9e9b7db60fd5 121 uint32_t base;
garyservin 0:9e9b7db60fd5 122 } u_range_max;
garyservin 0:9e9b7db60fd5 123 u_range_max.real = this->range_max;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 129 *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 130 *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 134 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 135 union {
garyservin 0:9e9b7db60fd5 136 float real;
garyservin 0:9e9b7db60fd5 137 uint32_t base;
garyservin 0:9e9b7db60fd5 138 } u_rangesi;
garyservin 0:9e9b7db60fd5 139 u_rangesi.real = this->ranges[i];
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->ranges[i]);
garyservin 0:9e9b7db60fd5 145 }
garyservin 0:9e9b7db60fd5 146 *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 149 *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 150 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 151 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 152 union {
garyservin 0:9e9b7db60fd5 153 float real;
garyservin 0:9e9b7db60fd5 154 uint32_t base;
garyservin 0:9e9b7db60fd5 155 } u_intensitiesi;
garyservin 0:9e9b7db60fd5 156 u_intensitiesi.real = this->intensities[i];
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 159 *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 160 *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 161 offset += sizeof(this->intensities[i]);
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 return offset;
garyservin 0:9e9b7db60fd5 164 }
garyservin 0:9e9b7db60fd5 165
garyservin 0:9e9b7db60fd5 166 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 167 {
garyservin 0:9e9b7db60fd5 168 int offset = 0;
garyservin 0:9e9b7db60fd5 169 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 170 union {
garyservin 0:9e9b7db60fd5 171 float real;
garyservin 0:9e9b7db60fd5 172 uint32_t base;
garyservin 0:9e9b7db60fd5 173 } u_angle_min;
garyservin 0:9e9b7db60fd5 174 u_angle_min.base = 0;
garyservin 0:9e9b7db60fd5 175 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 176 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 177 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 178 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 179 this->angle_min = u_angle_min.real;
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 181 union {
garyservin 0:9e9b7db60fd5 182 float real;
garyservin 0:9e9b7db60fd5 183 uint32_t base;
garyservin 0:9e9b7db60fd5 184 } u_angle_max;
garyservin 0:9e9b7db60fd5 185 u_angle_max.base = 0;
garyservin 0:9e9b7db60fd5 186 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 187 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 188 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 189 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 190 this->angle_max = u_angle_max.real;
garyservin 0:9e9b7db60fd5 191 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 192 union {
garyservin 0:9e9b7db60fd5 193 float real;
garyservin 0:9e9b7db60fd5 194 uint32_t base;
garyservin 0:9e9b7db60fd5 195 } u_angle_increment;
garyservin 0:9e9b7db60fd5 196 u_angle_increment.base = 0;
garyservin 0:9e9b7db60fd5 197 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 198 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 199 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 200 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 201 this->angle_increment = u_angle_increment.real;
garyservin 0:9e9b7db60fd5 202 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 203 union {
garyservin 0:9e9b7db60fd5 204 float real;
garyservin 0:9e9b7db60fd5 205 uint32_t base;
garyservin 0:9e9b7db60fd5 206 } u_time_increment;
garyservin 0:9e9b7db60fd5 207 u_time_increment.base = 0;
garyservin 0:9e9b7db60fd5 208 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 209 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 210 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 211 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 212 this->time_increment = u_time_increment.real;
garyservin 0:9e9b7db60fd5 213 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 214 union {
garyservin 0:9e9b7db60fd5 215 float real;
garyservin 0:9e9b7db60fd5 216 uint32_t base;
garyservin 0:9e9b7db60fd5 217 } u_scan_time;
garyservin 0:9e9b7db60fd5 218 u_scan_time.base = 0;
garyservin 0:9e9b7db60fd5 219 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 220 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 221 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 222 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 223 this->scan_time = u_scan_time.real;
garyservin 0:9e9b7db60fd5 224 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 225 union {
garyservin 0:9e9b7db60fd5 226 float real;
garyservin 0:9e9b7db60fd5 227 uint32_t base;
garyservin 0:9e9b7db60fd5 228 } u_range_min;
garyservin 0:9e9b7db60fd5 229 u_range_min.base = 0;
garyservin 0:9e9b7db60fd5 230 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 231 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 232 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 233 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 234 this->range_min = u_range_min.real;
garyservin 0:9e9b7db60fd5 235 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 236 union {
garyservin 0:9e9b7db60fd5 237 float real;
garyservin 0:9e9b7db60fd5 238 uint32_t base;
garyservin 0:9e9b7db60fd5 239 } u_range_max;
garyservin 0:9e9b7db60fd5 240 u_range_max.base = 0;
garyservin 0:9e9b7db60fd5 241 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 242 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 243 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 244 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 245 this->range_max = u_range_max.real;
garyservin 0:9e9b7db60fd5 246 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 247 uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 248 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 249 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 250 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 251 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 252 if(ranges_lengthT > ranges_length)
garyservin 0:9e9b7db60fd5 253 this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 254 ranges_length = ranges_lengthT;
garyservin 0:9e9b7db60fd5 255 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 256 union {
garyservin 0:9e9b7db60fd5 257 float real;
garyservin 0:9e9b7db60fd5 258 uint32_t base;
garyservin 0:9e9b7db60fd5 259 } u_st_ranges;
garyservin 0:9e9b7db60fd5 260 u_st_ranges.base = 0;
garyservin 0:9e9b7db60fd5 261 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 262 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 263 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 264 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 265 this->st_ranges = u_st_ranges.real;
garyservin 0:9e9b7db60fd5 266 offset += sizeof(this->st_ranges);
garyservin 0:9e9b7db60fd5 267 memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
garyservin 0:9e9b7db60fd5 268 }
garyservin 0:9e9b7db60fd5 269 uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 270 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 271 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 272 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 273 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 274 if(intensities_lengthT > intensities_length)
garyservin 0:9e9b7db60fd5 275 this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 276 intensities_length = intensities_lengthT;
garyservin 0:9e9b7db60fd5 277 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 278 union {
garyservin 0:9e9b7db60fd5 279 float real;
garyservin 0:9e9b7db60fd5 280 uint32_t base;
garyservin 0:9e9b7db60fd5 281 } u_st_intensities;
garyservin 0:9e9b7db60fd5 282 u_st_intensities.base = 0;
garyservin 0:9e9b7db60fd5 283 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 284 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 285 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 286 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 287 this->st_intensities = u_st_intensities.real;
garyservin 0:9e9b7db60fd5 288 offset += sizeof(this->st_intensities);
garyservin 0:9e9b7db60fd5 289 memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
garyservin 0:9e9b7db60fd5 290 }
garyservin 0:9e9b7db60fd5 291 return offset;
garyservin 0:9e9b7db60fd5 292 }
garyservin 0:9e9b7db60fd5 293
garyservin 0:9e9b7db60fd5 294 const char * getType(){ return "sensor_msgs/LaserScan"; };
garyservin 0:9e9b7db60fd5 295 const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
garyservin 0:9e9b7db60fd5 296
garyservin 0:9e9b7db60fd5 297 };
garyservin 0:9e9b7db60fd5 298
garyservin 0:9e9b7db60fd5 299 }
garyservin 0:9e9b7db60fd5 300 #endif