jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

nav_msgs/OccupancyGrid.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_OccupancyGrid_h
jjzak 6:3c54bc7badd4 2 #define _ROS_nav_msgs_OccupancyGrid_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 "nav_msgs/MapMetaData.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 OccupancyGrid : public ros::Msg
jjzak 6:3c54bc7badd4 15 {
jjzak 6:3c54bc7badd4 16 public:
jjzak 6:3c54bc7badd4 17 std_msgs::Header header;
jjzak 6:3c54bc7badd4 18 nav_msgs::MapMetaData info;
jjzak 6:3c54bc7badd4 19 uint8_t data_length;
jjzak 6:3c54bc7badd4 20 int8_t st_data;
jjzak 6:3c54bc7badd4 21 int8_t * data;
jjzak 6:3c54bc7badd4 22
jjzak 6:3c54bc7badd4 23 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 24 {
jjzak 6:3c54bc7badd4 25 int offset = 0;
jjzak 6:3c54bc7badd4 26 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 27 offset += this->info.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 28 *(outbuffer + offset++) = data_length;
jjzak 6:3c54bc7badd4 29 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 32 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 33 union {
jjzak 6:3c54bc7badd4 34 int8_t real;
jjzak 6:3c54bc7badd4 35 uint8_t base;
jjzak 6:3c54bc7badd4 36 } u_datai;
jjzak 6:3c54bc7badd4 37 u_datai.real = this->data[i];
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 39 offset += sizeof(this->data[i]);
jjzak 6:3c54bc7badd4 40 }
jjzak 6:3c54bc7badd4 41 return offset;
jjzak 6:3c54bc7badd4 42 }
jjzak 6:3c54bc7badd4 43
jjzak 6:3c54bc7badd4 44 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 45 {
jjzak 6:3c54bc7badd4 46 int offset = 0;
jjzak 6:3c54bc7badd4 47 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 48 offset += this->info.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 49 uint8_t data_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 50 if(data_lengthT > data_length)
jjzak 6:3c54bc7badd4 51 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
jjzak 6:3c54bc7badd4 52 offset += 3;
jjzak 6:3c54bc7badd4 53 data_length = data_lengthT;
jjzak 6:3c54bc7badd4 54 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 55 union {
jjzak 6:3c54bc7badd4 56 int8_t real;
jjzak 6:3c54bc7badd4 57 uint8_t base;
jjzak 6:3c54bc7badd4 58 } u_st_data;
jjzak 6:3c54bc7badd4 59 u_st_data.base = 0;
jjzak 6:3c54bc7badd4 60 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
jjzak 6:3c54bc7badd4 61 this->st_data = u_st_data.real;
jjzak 6:3c54bc7badd4 62 offset += sizeof(this->st_data);
jjzak 6:3c54bc7badd4 63 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
jjzak 6:3c54bc7badd4 64 }
jjzak 6:3c54bc7badd4 65 return offset;
jjzak 6:3c54bc7badd4 66 }
jjzak 6:3c54bc7badd4 67
jjzak 6:3c54bc7badd4 68 const char * getType(){ return "nav_msgs/OccupancyGrid"; };
jjzak 6:3c54bc7badd4 69 const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
jjzak 6:3c54bc7badd4 70
jjzak 6:3c54bc7badd4 71 };
jjzak 6:3c54bc7badd4 72
jjzak 6:3c54bc7badd4 73 }
jjzak 6:3c54bc7badd4 74 #endif