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/Range.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_sensor_msgs_Range_h
#define _ROS_sensor_msgs_Range_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"

namespace sensor_msgs
{

  class Range : public ros::Msg
  {
    public:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef uint8_t _radiation_type_type;
      _radiation_type_type radiation_type;
      typedef float _field_of_view_type;
      _field_of_view_type field_of_view;
      typedef float _min_range_type;
      _min_range_type min_range;
      typedef float _max_range_type;
      _max_range_type max_range;
      typedef float _range_type;
      _range_type range;
      enum { ULTRASOUND = 0 };
      enum { INFRARED = 1 };

    Range():
      header(),
      radiation_type(0),
      field_of_view(0),
      min_range(0),
      max_range(0),
      range(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
      offset += sizeof(this->radiation_type);
      union {
        float real;
        uint32_t base;
      } u_field_of_view;
      u_field_of_view.real = this->field_of_view;
      *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->field_of_view);
      union {
        float real;
        uint32_t base;
      } u_min_range;
      u_min_range.real = this->min_range;
      *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->min_range);
      union {
        float real;
        uint32_t base;
      } u_max_range;
      u_max_range.real = this->max_range;
      *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->max_range);
      union {
        float real;
        uint32_t base;
      } u_range;
      u_range.real = this->range;
      *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->range);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      this->radiation_type =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->radiation_type);
      union {
        float real;
        uint32_t base;
      } u_field_of_view;
      u_field_of_view.base = 0;
      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->field_of_view = u_field_of_view.real;
      offset += sizeof(this->field_of_view);
      union {
        float real;
        uint32_t base;
      } u_min_range;
      u_min_range.base = 0;
      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->min_range = u_min_range.real;
      offset += sizeof(this->min_range);
      union {
        float real;
        uint32_t base;
      } u_max_range;
      u_max_range.base = 0;
      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->max_range = u_max_range.real;
      offset += sizeof(this->max_range);
      union {
        float real;
        uint32_t base;
      } u_range;
      u_range.base = 0;
      u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->range = u_range.real;
      offset += sizeof(this->range);
     return offset;
    }

    const char * getType(){ return "sensor_msgs/Range"; };
    const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };

  };

}
#endif