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/MultiEchoLaserScan.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_MultiEchoLaserScan_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_MultiEchoLaserScan_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 #include "sensor_msgs/LaserEcho.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class MultiEchoLaserScan : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef float _angle_min_type;
garyservin 0:9e9b7db60fd5 20 _angle_min_type angle_min;
garyservin 0:9e9b7db60fd5 21 typedef float _angle_max_type;
garyservin 0:9e9b7db60fd5 22 _angle_max_type angle_max;
garyservin 0:9e9b7db60fd5 23 typedef float _angle_increment_type;
garyservin 0:9e9b7db60fd5 24 _angle_increment_type angle_increment;
garyservin 0:9e9b7db60fd5 25 typedef float _time_increment_type;
garyservin 0:9e9b7db60fd5 26 _time_increment_type time_increment;
garyservin 0:9e9b7db60fd5 27 typedef float _scan_time_type;
garyservin 0:9e9b7db60fd5 28 _scan_time_type scan_time;
garyservin 0:9e9b7db60fd5 29 typedef float _range_min_type;
garyservin 0:9e9b7db60fd5 30 _range_min_type range_min;
garyservin 0:9e9b7db60fd5 31 typedef float _range_max_type;
garyservin 0:9e9b7db60fd5 32 _range_max_type range_max;
garyservin 0:9e9b7db60fd5 33 uint32_t ranges_length;
garyservin 0:9e9b7db60fd5 34 typedef sensor_msgs::LaserEcho _ranges_type;
garyservin 0:9e9b7db60fd5 35 _ranges_type st_ranges;
garyservin 0:9e9b7db60fd5 36 _ranges_type * ranges;
garyservin 0:9e9b7db60fd5 37 uint32_t intensities_length;
garyservin 0:9e9b7db60fd5 38 typedef sensor_msgs::LaserEcho _intensities_type;
garyservin 0:9e9b7db60fd5 39 _intensities_type st_intensities;
garyservin 0:9e9b7db60fd5 40 _intensities_type * intensities;
garyservin 0:9e9b7db60fd5 41
garyservin 0:9e9b7db60fd5 42 MultiEchoLaserScan():
garyservin 0:9e9b7db60fd5 43 header(),
garyservin 0:9e9b7db60fd5 44 angle_min(0),
garyservin 0:9e9b7db60fd5 45 angle_max(0),
garyservin 0:9e9b7db60fd5 46 angle_increment(0),
garyservin 0:9e9b7db60fd5 47 time_increment(0),
garyservin 0:9e9b7db60fd5 48 scan_time(0),
garyservin 0:9e9b7db60fd5 49 range_min(0),
garyservin 0:9e9b7db60fd5 50 range_max(0),
garyservin 0:9e9b7db60fd5 51 ranges_length(0), ranges(NULL),
garyservin 0:9e9b7db60fd5 52 intensities_length(0), intensities(NULL)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 57 {
garyservin 0:9e9b7db60fd5 58 int offset = 0;
garyservin 0:9e9b7db60fd5 59 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 float real;
garyservin 0:9e9b7db60fd5 62 uint32_t base;
garyservin 0:9e9b7db60fd5 63 } u_angle_min;
garyservin 0:9e9b7db60fd5 64 u_angle_min.real = this->angle_min;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 70 union {
garyservin 0:9e9b7db60fd5 71 float real;
garyservin 0:9e9b7db60fd5 72 uint32_t base;
garyservin 0:9e9b7db60fd5 73 } u_angle_max;
garyservin 0:9e9b7db60fd5 74 u_angle_max.real = this->angle_max;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 80 union {
garyservin 0:9e9b7db60fd5 81 float real;
garyservin 0:9e9b7db60fd5 82 uint32_t base;
garyservin 0:9e9b7db60fd5 83 } u_angle_increment;
garyservin 0:9e9b7db60fd5 84 u_angle_increment.real = this->angle_increment;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 90 union {
garyservin 0:9e9b7db60fd5 91 float real;
garyservin 0:9e9b7db60fd5 92 uint32_t base;
garyservin 0:9e9b7db60fd5 93 } u_time_increment;
garyservin 0:9e9b7db60fd5 94 u_time_increment.real = this->time_increment;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 100 union {
garyservin 0:9e9b7db60fd5 101 float real;
garyservin 0:9e9b7db60fd5 102 uint32_t base;
garyservin 0:9e9b7db60fd5 103 } u_scan_time;
garyservin 0:9e9b7db60fd5 104 u_scan_time.real = this->scan_time;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 110 union {
garyservin 0:9e9b7db60fd5 111 float real;
garyservin 0:9e9b7db60fd5 112 uint32_t base;
garyservin 0:9e9b7db60fd5 113 } u_range_min;
garyservin 0:9e9b7db60fd5 114 u_range_min.real = this->range_min;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 120 union {
garyservin 0:9e9b7db60fd5 121 float real;
garyservin 0:9e9b7db60fd5 122 uint32_t base;
garyservin 0:9e9b7db60fd5 123 } u_range_max;
garyservin 0:9e9b7db60fd5 124 u_range_max.real = this->range_max;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 130 *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 134 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 135 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 136 offset += this->ranges[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 137 }
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 143 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 144 offset += this->intensities[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 145 }
garyservin 0:9e9b7db60fd5 146 return offset;
garyservin 0:9e9b7db60fd5 147 }
garyservin 0:9e9b7db60fd5 148
garyservin 0:9e9b7db60fd5 149 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 150 {
garyservin 0:9e9b7db60fd5 151 int offset = 0;
garyservin 0:9e9b7db60fd5 152 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 153 union {
garyservin 0:9e9b7db60fd5 154 float real;
garyservin 0:9e9b7db60fd5 155 uint32_t base;
garyservin 0:9e9b7db60fd5 156 } u_angle_min;
garyservin 0:9e9b7db60fd5 157 u_angle_min.base = 0;
garyservin 0:9e9b7db60fd5 158 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 159 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 160 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 161 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 162 this->angle_min = u_angle_min.real;
garyservin 0:9e9b7db60fd5 163 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 164 union {
garyservin 0:9e9b7db60fd5 165 float real;
garyservin 0:9e9b7db60fd5 166 uint32_t base;
garyservin 0:9e9b7db60fd5 167 } u_angle_max;
garyservin 0:9e9b7db60fd5 168 u_angle_max.base = 0;
garyservin 0:9e9b7db60fd5 169 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 170 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 171 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 172 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 173 this->angle_max = u_angle_max.real;
garyservin 0:9e9b7db60fd5 174 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 175 union {
garyservin 0:9e9b7db60fd5 176 float real;
garyservin 0:9e9b7db60fd5 177 uint32_t base;
garyservin 0:9e9b7db60fd5 178 } u_angle_increment;
garyservin 0:9e9b7db60fd5 179 u_angle_increment.base = 0;
garyservin 0:9e9b7db60fd5 180 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 181 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 182 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 183 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 184 this->angle_increment = u_angle_increment.real;
garyservin 0:9e9b7db60fd5 185 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 186 union {
garyservin 0:9e9b7db60fd5 187 float real;
garyservin 0:9e9b7db60fd5 188 uint32_t base;
garyservin 0:9e9b7db60fd5 189 } u_time_increment;
garyservin 0:9e9b7db60fd5 190 u_time_increment.base = 0;
garyservin 0:9e9b7db60fd5 191 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 192 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 193 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 194 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 195 this->time_increment = u_time_increment.real;
garyservin 0:9e9b7db60fd5 196 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 197 union {
garyservin 0:9e9b7db60fd5 198 float real;
garyservin 0:9e9b7db60fd5 199 uint32_t base;
garyservin 0:9e9b7db60fd5 200 } u_scan_time;
garyservin 0:9e9b7db60fd5 201 u_scan_time.base = 0;
garyservin 0:9e9b7db60fd5 202 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 203 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 204 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 205 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 206 this->scan_time = u_scan_time.real;
garyservin 0:9e9b7db60fd5 207 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 208 union {
garyservin 0:9e9b7db60fd5 209 float real;
garyservin 0:9e9b7db60fd5 210 uint32_t base;
garyservin 0:9e9b7db60fd5 211 } u_range_min;
garyservin 0:9e9b7db60fd5 212 u_range_min.base = 0;
garyservin 0:9e9b7db60fd5 213 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 214 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 215 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 216 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 217 this->range_min = u_range_min.real;
garyservin 0:9e9b7db60fd5 218 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 219 union {
garyservin 0:9e9b7db60fd5 220 float real;
garyservin 0:9e9b7db60fd5 221 uint32_t base;
garyservin 0:9e9b7db60fd5 222 } u_range_max;
garyservin 0:9e9b7db60fd5 223 u_range_max.base = 0;
garyservin 0:9e9b7db60fd5 224 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 225 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 226 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 227 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 228 this->range_max = u_range_max.real;
garyservin 0:9e9b7db60fd5 229 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 230 uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 231 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 232 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 233 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 234 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 235 if(ranges_lengthT > ranges_length)
garyservin 0:9e9b7db60fd5 236 this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho));
garyservin 0:9e9b7db60fd5 237 ranges_length = ranges_lengthT;
garyservin 0:9e9b7db60fd5 238 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 239 offset += this->st_ranges.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 240 memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho));
garyservin 0:9e9b7db60fd5 241 }
garyservin 0:9e9b7db60fd5 242 uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 243 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 244 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 245 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 246 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 247 if(intensities_lengthT > intensities_length)
garyservin 0:9e9b7db60fd5 248 this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho));
garyservin 0:9e9b7db60fd5 249 intensities_length = intensities_lengthT;
garyservin 0:9e9b7db60fd5 250 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 251 offset += this->st_intensities.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 252 memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho));
garyservin 0:9e9b7db60fd5 253 }
garyservin 0:9e9b7db60fd5 254 return offset;
garyservin 0:9e9b7db60fd5 255 }
garyservin 0:9e9b7db60fd5 256
garyservin 0:9e9b7db60fd5 257 const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; };
garyservin 0:9e9b7db60fd5 258 const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; };
garyservin 0:9e9b7db60fd5 259
garyservin 0:9e9b7db60fd5 260 };
garyservin 0:9e9b7db60fd5 261
garyservin 0:9e9b7db60fd5 262 }
garyservin 0:9e9b7db60fd5 263 #endif