modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: sensor_msgs/PointCloud2.h
- Revision:
- 3:1cf99502f396
- Parent:
- 0:77afd7560544
--- a/sensor_msgs/PointCloud2.h Sun Oct 16 09:35:11 2011 +0000 +++ b/sensor_msgs/PointCloud2.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_PointCloud2_h -#define ros_PointCloud2_h +#ifndef _ROS_sensor_msgs_PointCloud2_h +#define _ROS_sensor_msgs_PointCloud2_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/PointField.h" @@ -15,93 +15,68 @@ { public: std_msgs::Header header; - unsigned long height; - unsigned long width; - unsigned char fields_length; + uint32_t height; + uint32_t width; + uint8_t fields_length; sensor_msgs::PointField st_fields; sensor_msgs::PointField * fields; bool is_bigendian; - unsigned long point_step; - unsigned long row_step; - unsigned char data_length; - unsigned char st_data; - unsigned char * data; + uint32_t point_step; + uint32_t row_step; + uint8_t data_length; + uint8_t st_data; + uint8_t * data; bool is_dense; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); - union { - unsigned long real; - unsigned long base; - } u_height; - u_height.real = this->height; - *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; offset += sizeof(this->height); - union { - unsigned long real; - unsigned long base; - } u_width; - u_width.real = this->width; - *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; offset += sizeof(this->width); *(outbuffer + offset++) = fields_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < fields_length; i++){ + for( uint8_t i = 0; i < fields_length; i++){ offset += this->fields[i].serialize(outbuffer + offset); } union { bool real; - unsigned char base; + uint8_t base; } u_is_bigendian; u_is_bigendian.real = this->is_bigendian; *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; offset += sizeof(this->is_bigendian); - union { - unsigned long real; - unsigned long base; - } u_point_step; - u_point_step.real = this->point_step; - *(outbuffer + offset + 0) = (u_point_step.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_point_step.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_point_step.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_point_step.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF; offset += sizeof(this->point_step); - union { - unsigned long real; - unsigned long base; - } u_row_step; - u_row_step.real = this->row_step; - *(outbuffer + offset + 0) = (u_row_step.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_row_step.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_row_step.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_row_step.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF; offset += sizeof(this->row_step); *(outbuffer + offset++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < data_length; i++){ - union { - unsigned char real; - unsigned char base; - } u_datai; - u_datai.real = this->data[i]; - *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + for( uint8_t i = 0; i < data_length; i++){ + *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } union { bool real; - unsigned char base; + uint8_t base; } u_is_dense; u_is_dense.real = this->is_dense; *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF; @@ -113,95 +88,66 @@ { int offset = 0; offset += this->header.deserialize(inbuffer + offset); - union { - unsigned long real; - unsigned long base; - } u_height; - u_height.base = 0; - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->height = u_height.real; + this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->height); - union { - unsigned long real; - unsigned long base; - } u_width; - u_width.base = 0; - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->width = u_width.real; + this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->width); - unsigned char fields_lengthT = *(inbuffer + offset++); + uint8_t fields_lengthT = *(inbuffer + offset++); if(fields_lengthT > fields_length) this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField)); offset += 3; fields_length = fields_lengthT; - for( unsigned char i = 0; i < fields_length; i++){ + for( uint8_t i = 0; i < fields_length; i++){ offset += this->st_fields.deserialize(inbuffer + offset); memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField)); } union { bool real; - unsigned char base; + uint8_t base; } u_is_bigendian; u_is_bigendian.base = 0; - u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->is_bigendian = u_is_bigendian.real; offset += sizeof(this->is_bigendian); - union { - unsigned long real; - unsigned long base; - } u_point_step; - u_point_step.base = 0; - u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->point_step = u_point_step.real; + this->point_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->point_step); - union { - unsigned long real; - unsigned long base; - } u_row_step; - u_row_step.base = 0; - u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->row_step = u_row_step.real; + this->row_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->row_step); - unsigned char data_lengthT = *(inbuffer + offset++); + uint8_t data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) - this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); + this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); offset += 3; data_length = data_lengthT; - for( unsigned char i = 0; i < data_length; i++){ - union { - unsigned char real; - unsigned char base; - } u_st_data; - u_st_data.base = 0; - u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); - this->st_data = u_st_data.real; + for( uint8_t i = 0; i < data_length; i++){ + this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->st_data); - memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); + memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); } union { bool real; - unsigned char base; + uint8_t base; } u_is_dense; u_is_dense.base = 0; - u_is_dense.base |= ((typeof(u_is_dense.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->is_dense = u_is_dense.real; offset += sizeof(this->is_dense); return offset; } - virtual const char * getType(){ return "sensor_msgs/PointCloud2"; }; + virtual const char * getType(){ return "sensor_msgs/PointCloud2"; }; + virtual const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; }; };