modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/PointCloud2.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 0:77afd7560544:
#ifndef ros_PointCloud2_h #define ros_PointCloud2_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/PointField.h" namespace sensor_msgs { class PointCloud2 : public ros::Msg { public: std_msgs::Header header; unsigned long height; unsigned long width; unsigned char 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; bool is_dense; virtual int serialize(unsigned char *outbuffer) { 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; 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; 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++){ offset += this->fields[i].serialize(outbuffer + offset); } union { bool real; unsigned char 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; 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; 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; offset += sizeof(this->data[i]); } union { bool real; unsigned char base; } u_is_dense; u_is_dense.real = this->is_dense; *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF; offset += sizeof(this->is_dense); return offset; } virtual int deserialize(unsigned char *inbuffer) { 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; 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; offset += sizeof(this->width); unsigned char 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++){ offset += this->st_fields.deserialize(inbuffer + offset); memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField)); } union { bool real; unsigned char base; } u_is_bigendian; u_is_bigendian.base = 0; u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(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; 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; offset += sizeof(this->row_step); unsigned char data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); 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; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); } union { bool real; unsigned char base; } u_is_dense; u_is_dense.base = 0; u_is_dense.base |= ((typeof(u_is_dense.base)) (*(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"; }; }; } #endif