jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

nav_msgs/GridCells.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_nav_msgs_GridCells_h
jjzak 6:3c54bc7badd4 2 #define _ROS_nav_msgs_GridCells_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9 #include "geometry_msgs/Point.h"
jjzak 6:3c54bc7badd4 10
jjzak 6:3c54bc7badd4 11 namespace nav_msgs
jjzak 6:3c54bc7badd4 12 {
jjzak 6:3c54bc7badd4 13
jjzak 6:3c54bc7badd4 14 class GridCells : public ros::Msg
jjzak 6:3c54bc7badd4 15 {
jjzak 6:3c54bc7badd4 16 public:
jjzak 6:3c54bc7badd4 17 std_msgs::Header header;
jjzak 6:3c54bc7badd4 18 float cell_width;
jjzak 6:3c54bc7badd4 19 float cell_height;
jjzak 6:3c54bc7badd4 20 uint8_t cells_length;
jjzak 6:3c54bc7badd4 21 geometry_msgs::Point st_cells;
jjzak 6:3c54bc7badd4 22 geometry_msgs::Point * cells;
jjzak 6:3c54bc7badd4 23
jjzak 6:3c54bc7badd4 24 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 25 {
jjzak 6:3c54bc7badd4 26 int offset = 0;
jjzak 6:3c54bc7badd4 27 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 28 union {
jjzak 6:3c54bc7badd4 29 float real;
jjzak 6:3c54bc7badd4 30 uint32_t base;
jjzak 6:3c54bc7badd4 31 } u_cell_width;
jjzak 6:3c54bc7badd4 32 u_cell_width.real = this->cell_width;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 34 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 37 offset += sizeof(this->cell_width);
jjzak 6:3c54bc7badd4 38 union {
jjzak 6:3c54bc7badd4 39 float real;
jjzak 6:3c54bc7badd4 40 uint32_t base;
jjzak 6:3c54bc7badd4 41 } u_cell_height;
jjzak 6:3c54bc7badd4 42 u_cell_height.real = this->cell_height;
jjzak 6:3c54bc7badd4 43 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 44 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 46 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 47 offset += sizeof(this->cell_height);
jjzak 6:3c54bc7badd4 48 *(outbuffer + offset++) = cells_length;
jjzak 6:3c54bc7badd4 49 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 50 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 51 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 52 for( uint8_t i = 0; i < cells_length; i++){
jjzak 6:3c54bc7badd4 53 offset += this->cells[i].serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 54 }
jjzak 6:3c54bc7badd4 55 return offset;
jjzak 6:3c54bc7badd4 56 }
jjzak 6:3c54bc7badd4 57
jjzak 6:3c54bc7badd4 58 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 59 {
jjzak 6:3c54bc7badd4 60 int offset = 0;
jjzak 6:3c54bc7badd4 61 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 62 union {
jjzak 6:3c54bc7badd4 63 float real;
jjzak 6:3c54bc7badd4 64 uint32_t base;
jjzak 6:3c54bc7badd4 65 } u_cell_width;
jjzak 6:3c54bc7badd4 66 u_cell_width.base = 0;
jjzak 6:3c54bc7badd4 67 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
jjzak 6:3c54bc7badd4 68 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 69 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 70 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 71 this->cell_width = u_cell_width.real;
jjzak 6:3c54bc7badd4 72 offset += sizeof(this->cell_width);
jjzak 6:3c54bc7badd4 73 union {
jjzak 6:3c54bc7badd4 74 float real;
jjzak 6:3c54bc7badd4 75 uint32_t base;
jjzak 6:3c54bc7badd4 76 } u_cell_height;
jjzak 6:3c54bc7badd4 77 u_cell_height.base = 0;
jjzak 6:3c54bc7badd4 78 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
jjzak 6:3c54bc7badd4 79 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 80 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 81 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 82 this->cell_height = u_cell_height.real;
jjzak 6:3c54bc7badd4 83 offset += sizeof(this->cell_height);
jjzak 6:3c54bc7badd4 84 uint8_t cells_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 85 if(cells_lengthT > cells_length)
jjzak 6:3c54bc7badd4 86 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
jjzak 6:3c54bc7badd4 87 offset += 3;
jjzak 6:3c54bc7badd4 88 cells_length = cells_lengthT;
jjzak 6:3c54bc7badd4 89 for( uint8_t i = 0; i < cells_length; i++){
jjzak 6:3c54bc7badd4 90 offset += this->st_cells.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 91 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
jjzak 6:3c54bc7badd4 92 }
jjzak 6:3c54bc7badd4 93 return offset;
jjzak 6:3c54bc7badd4 94 }
jjzak 6:3c54bc7badd4 95
jjzak 6:3c54bc7badd4 96 const char * getType(){ return "nav_msgs/GridCells"; };
jjzak 6:3c54bc7badd4 97 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
jjzak 6:3c54bc7badd4 98
jjzak 6:3c54bc7badd4 99 };
jjzak 6:3c54bc7badd4 100
jjzak 6:3c54bc7badd4 101 }
jjzak 6:3c54bc7badd4 102 #endif