modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/MultiEchoLaserScan.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
- Parent:
- 5:8cd48977ec68
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 5:8cd48977ec68 | 1 | #ifndef _ROS_sensor_msgs_MultiEchoLaserScan_h |
jjzak | 5:8cd48977ec68 | 2 | #define _ROS_sensor_msgs_MultiEchoLaserScan_h |
jjzak | 5:8cd48977ec68 | 3 | |
jjzak | 5:8cd48977ec68 | 4 | #include <stdint.h> |
jjzak | 5:8cd48977ec68 | 5 | #include <string.h> |
jjzak | 5:8cd48977ec68 | 6 | #include <stdlib.h> |
jjzak | 5:8cd48977ec68 | 7 | #include "ros/msg.h" |
jjzak | 5:8cd48977ec68 | 8 | #include "std_msgs/Header.h" |
jjzak | 5:8cd48977ec68 | 9 | #include "sensor_msgs/LaserEcho.h" |
jjzak | 5:8cd48977ec68 | 10 | |
jjzak | 5:8cd48977ec68 | 11 | namespace sensor_msgs |
jjzak | 5:8cd48977ec68 | 12 | { |
jjzak | 5:8cd48977ec68 | 13 | |
jjzak | 5:8cd48977ec68 | 14 | class MultiEchoLaserScan : public ros::Msg |
jjzak | 5:8cd48977ec68 | 15 | { |
jjzak | 5:8cd48977ec68 | 16 | public: |
jjzak | 5:8cd48977ec68 | 17 | std_msgs::Header header; |
jjzak | 5:8cd48977ec68 | 18 | float angle_min; |
jjzak | 5:8cd48977ec68 | 19 | float angle_max; |
jjzak | 5:8cd48977ec68 | 20 | float angle_increment; |
jjzak | 5:8cd48977ec68 | 21 | float time_increment; |
jjzak | 5:8cd48977ec68 | 22 | float scan_time; |
jjzak | 5:8cd48977ec68 | 23 | float range_min; |
jjzak | 5:8cd48977ec68 | 24 | float range_max; |
jjzak | 5:8cd48977ec68 | 25 | uint8_t ranges_length; |
jjzak | 5:8cd48977ec68 | 26 | sensor_msgs::LaserEcho st_ranges; |
jjzak | 5:8cd48977ec68 | 27 | sensor_msgs::LaserEcho * ranges; |
jjzak | 5:8cd48977ec68 | 28 | uint8_t intensities_length; |
jjzak | 5:8cd48977ec68 | 29 | sensor_msgs::LaserEcho st_intensities; |
jjzak | 5:8cd48977ec68 | 30 | sensor_msgs::LaserEcho * intensities; |
jjzak | 5:8cd48977ec68 | 31 | |
jjzak | 5:8cd48977ec68 | 32 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 5:8cd48977ec68 | 33 | { |
jjzak | 5:8cd48977ec68 | 34 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 35 | offset += this->header.serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 36 | union { |
jjzak | 5:8cd48977ec68 | 37 | float real; |
jjzak | 5:8cd48977ec68 | 38 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 39 | } u_angle_min; |
jjzak | 5:8cd48977ec68 | 40 | u_angle_min.real = this->angle_min; |
jjzak | 5:8cd48977ec68 | 41 | *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 42 | *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 43 | *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 44 | *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 45 | offset += sizeof(this->angle_min); |
jjzak | 5:8cd48977ec68 | 46 | union { |
jjzak | 5:8cd48977ec68 | 47 | float real; |
jjzak | 5:8cd48977ec68 | 48 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 49 | } u_angle_max; |
jjzak | 5:8cd48977ec68 | 50 | u_angle_max.real = this->angle_max; |
jjzak | 5:8cd48977ec68 | 51 | *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 52 | *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 53 | *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 54 | *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 55 | offset += sizeof(this->angle_max); |
jjzak | 5:8cd48977ec68 | 56 | union { |
jjzak | 5:8cd48977ec68 | 57 | float real; |
jjzak | 5:8cd48977ec68 | 58 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 59 | } u_angle_increment; |
jjzak | 5:8cd48977ec68 | 60 | u_angle_increment.real = this->angle_increment; |
jjzak | 5:8cd48977ec68 | 61 | *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 62 | *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 63 | *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 64 | *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 65 | offset += sizeof(this->angle_increment); |
jjzak | 5:8cd48977ec68 | 66 | union { |
jjzak | 5:8cd48977ec68 | 67 | float real; |
jjzak | 5:8cd48977ec68 | 68 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 69 | } u_time_increment; |
jjzak | 5:8cd48977ec68 | 70 | u_time_increment.real = this->time_increment; |
jjzak | 5:8cd48977ec68 | 71 | *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 72 | *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 73 | *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 74 | *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 75 | offset += sizeof(this->time_increment); |
jjzak | 5:8cd48977ec68 | 76 | union { |
jjzak | 5:8cd48977ec68 | 77 | float real; |
jjzak | 5:8cd48977ec68 | 78 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 79 | } u_scan_time; |
jjzak | 5:8cd48977ec68 | 80 | u_scan_time.real = this->scan_time; |
jjzak | 5:8cd48977ec68 | 81 | *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 82 | *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 83 | *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 84 | *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 85 | offset += sizeof(this->scan_time); |
jjzak | 5:8cd48977ec68 | 86 | union { |
jjzak | 5:8cd48977ec68 | 87 | float real; |
jjzak | 5:8cd48977ec68 | 88 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 89 | } u_range_min; |
jjzak | 5:8cd48977ec68 | 90 | u_range_min.real = this->range_min; |
jjzak | 5:8cd48977ec68 | 91 | *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 92 | *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 93 | *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 94 | *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 95 | offset += sizeof(this->range_min); |
jjzak | 5:8cd48977ec68 | 96 | union { |
jjzak | 5:8cd48977ec68 | 97 | float real; |
jjzak | 5:8cd48977ec68 | 98 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 99 | } u_range_max; |
jjzak | 5:8cd48977ec68 | 100 | u_range_max.real = this->range_max; |
jjzak | 5:8cd48977ec68 | 101 | *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 102 | *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 103 | *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 104 | *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 105 | offset += sizeof(this->range_max); |
jjzak | 5:8cd48977ec68 | 106 | *(outbuffer + offset++) = ranges_length; |
jjzak | 5:8cd48977ec68 | 107 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 108 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 109 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 110 | for( uint8_t i = 0; i < ranges_length; i++){ |
jjzak | 5:8cd48977ec68 | 111 | offset += this->ranges[i].serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 112 | } |
jjzak | 5:8cd48977ec68 | 113 | *(outbuffer + offset++) = intensities_length; |
jjzak | 5:8cd48977ec68 | 114 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 115 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 116 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 117 | for( uint8_t i = 0; i < intensities_length; i++){ |
jjzak | 5:8cd48977ec68 | 118 | offset += this->intensities[i].serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 119 | } |
jjzak | 5:8cd48977ec68 | 120 | return offset; |
jjzak | 5:8cd48977ec68 | 121 | } |
jjzak | 5:8cd48977ec68 | 122 | |
jjzak | 5:8cd48977ec68 | 123 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 5:8cd48977ec68 | 124 | { |
jjzak | 5:8cd48977ec68 | 125 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 126 | offset += this->header.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 127 | union { |
jjzak | 5:8cd48977ec68 | 128 | float real; |
jjzak | 5:8cd48977ec68 | 129 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 130 | } u_angle_min; |
jjzak | 5:8cd48977ec68 | 131 | u_angle_min.base = 0; |
jjzak | 5:8cd48977ec68 | 132 | u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 133 | u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 134 | u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 135 | u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 136 | this->angle_min = u_angle_min.real; |
jjzak | 5:8cd48977ec68 | 137 | offset += sizeof(this->angle_min); |
jjzak | 5:8cd48977ec68 | 138 | union { |
jjzak | 5:8cd48977ec68 | 139 | float real; |
jjzak | 5:8cd48977ec68 | 140 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 141 | } u_angle_max; |
jjzak | 5:8cd48977ec68 | 142 | u_angle_max.base = 0; |
jjzak | 5:8cd48977ec68 | 143 | u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 144 | u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 145 | u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 146 | u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 147 | this->angle_max = u_angle_max.real; |
jjzak | 5:8cd48977ec68 | 148 | offset += sizeof(this->angle_max); |
jjzak | 5:8cd48977ec68 | 149 | union { |
jjzak | 5:8cd48977ec68 | 150 | float real; |
jjzak | 5:8cd48977ec68 | 151 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 152 | } u_angle_increment; |
jjzak | 5:8cd48977ec68 | 153 | u_angle_increment.base = 0; |
jjzak | 5:8cd48977ec68 | 154 | u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 155 | u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 156 | u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 157 | u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 158 | this->angle_increment = u_angle_increment.real; |
jjzak | 5:8cd48977ec68 | 159 | offset += sizeof(this->angle_increment); |
jjzak | 5:8cd48977ec68 | 160 | union { |
jjzak | 5:8cd48977ec68 | 161 | float real; |
jjzak | 5:8cd48977ec68 | 162 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 163 | } u_time_increment; |
jjzak | 5:8cd48977ec68 | 164 | u_time_increment.base = 0; |
jjzak | 5:8cd48977ec68 | 165 | u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 166 | u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 167 | u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 168 | u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 169 | this->time_increment = u_time_increment.real; |
jjzak | 5:8cd48977ec68 | 170 | offset += sizeof(this->time_increment); |
jjzak | 5:8cd48977ec68 | 171 | union { |
jjzak | 5:8cd48977ec68 | 172 | float real; |
jjzak | 5:8cd48977ec68 | 173 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 174 | } u_scan_time; |
jjzak | 5:8cd48977ec68 | 175 | u_scan_time.base = 0; |
jjzak | 5:8cd48977ec68 | 176 | u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 177 | u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 178 | u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 179 | u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 180 | this->scan_time = u_scan_time.real; |
jjzak | 5:8cd48977ec68 | 181 | offset += sizeof(this->scan_time); |
jjzak | 5:8cd48977ec68 | 182 | union { |
jjzak | 5:8cd48977ec68 | 183 | float real; |
jjzak | 5:8cd48977ec68 | 184 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 185 | } u_range_min; |
jjzak | 5:8cd48977ec68 | 186 | u_range_min.base = 0; |
jjzak | 5:8cd48977ec68 | 187 | u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 188 | u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 189 | u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 190 | u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 191 | this->range_min = u_range_min.real; |
jjzak | 5:8cd48977ec68 | 192 | offset += sizeof(this->range_min); |
jjzak | 5:8cd48977ec68 | 193 | union { |
jjzak | 5:8cd48977ec68 | 194 | float real; |
jjzak | 5:8cd48977ec68 | 195 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 196 | } u_range_max; |
jjzak | 5:8cd48977ec68 | 197 | u_range_max.base = 0; |
jjzak | 5:8cd48977ec68 | 198 | u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 199 | u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 200 | u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 201 | u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 202 | this->range_max = u_range_max.real; |
jjzak | 5:8cd48977ec68 | 203 | offset += sizeof(this->range_max); |
jjzak | 5:8cd48977ec68 | 204 | uint8_t ranges_lengthT = *(inbuffer + offset++); |
jjzak | 5:8cd48977ec68 | 205 | if(ranges_lengthT > ranges_length) |
jjzak | 5:8cd48977ec68 | 206 | this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho)); |
jjzak | 5:8cd48977ec68 | 207 | offset += 3; |
jjzak | 5:8cd48977ec68 | 208 | ranges_length = ranges_lengthT; |
jjzak | 5:8cd48977ec68 | 209 | for( uint8_t i = 0; i < ranges_length; i++){ |
jjzak | 5:8cd48977ec68 | 210 | offset += this->st_ranges.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 211 | memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho)); |
jjzak | 5:8cd48977ec68 | 212 | } |
jjzak | 5:8cd48977ec68 | 213 | uint8_t intensities_lengthT = *(inbuffer + offset++); |
jjzak | 5:8cd48977ec68 | 214 | if(intensities_lengthT > intensities_length) |
jjzak | 5:8cd48977ec68 | 215 | this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho)); |
jjzak | 5:8cd48977ec68 | 216 | offset += 3; |
jjzak | 5:8cd48977ec68 | 217 | intensities_length = intensities_lengthT; |
jjzak | 5:8cd48977ec68 | 218 | for( uint8_t i = 0; i < intensities_length; i++){ |
jjzak | 5:8cd48977ec68 | 219 | offset += this->st_intensities.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 220 | memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho)); |
jjzak | 5:8cd48977ec68 | 221 | } |
jjzak | 5:8cd48977ec68 | 222 | return offset; |
jjzak | 5:8cd48977ec68 | 223 | } |
jjzak | 5:8cd48977ec68 | 224 | |
jjzak | 5:8cd48977ec68 | 225 | const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; }; |
jjzak | 5:8cd48977ec68 | 226 | const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; }; |
jjzak | 5:8cd48977ec68 | 227 | |
jjzak | 5:8cd48977ec68 | 228 | }; |
jjzak | 5:8cd48977ec68 | 229 | |
jjzak | 5:8cd48977ec68 | 230 | } |
jjzak | 5:8cd48977ec68 | 231 | #endif |