Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/TimeReference.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_TimeReference_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_TimeReference_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class TimeReference : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef ros::Time _time_ref_type;
garyservin 0:9e9b7db60fd5 20 _time_ref_type time_ref;
garyservin 0:9e9b7db60fd5 21 typedef const char* _source_type;
garyservin 0:9e9b7db60fd5 22 _source_type source;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 TimeReference():
garyservin 0:9e9b7db60fd5 25 header(),
garyservin 0:9e9b7db60fd5 26 time_ref(),
garyservin 0:9e9b7db60fd5 27 source("")
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 }
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 int offset = 0;
garyservin 0:9e9b7db60fd5 34 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (this->time_ref.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (this->time_ref.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (this->time_ref.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (this->time_ref.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->time_ref.sec);
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->time_ref.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->time_ref.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->time_ref.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->time_ref.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->time_ref.nsec);
garyservin 0:9e9b7db60fd5 45 uint32_t length_source = strlen(this->source);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_source);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->source, length_source);
garyservin 0:9e9b7db60fd5 49 offset += length_source;
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 57 this->time_ref.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 59 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 60 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->time_ref.sec);
garyservin 0:9e9b7db60fd5 62 this->time_ref.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 63 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 64 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 65 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->time_ref.nsec);
garyservin 0:9e9b7db60fd5 67 uint32_t length_source;
garyservin 0:9e9b7db60fd5 68 arrToVar(length_source, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 69 offset += 4;
garyservin 0:9e9b7db60fd5 70 for(unsigned int k= offset; k< offset+length_source; ++k){
garyservin 0:9e9b7db60fd5 71 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 inbuffer[offset+length_source-1]=0;
garyservin 0:9e9b7db60fd5 74 this->source = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 75 offset += length_source;
garyservin 0:9e9b7db60fd5 76 return offset;
garyservin 0:9e9b7db60fd5 77 }
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 const char * getType(){ return "sensor_msgs/TimeReference"; };
garyservin 0:9e9b7db60fd5 80 const char * getMD5(){ return "fded64a0265108ba86c3d38fb11c0c16"; };
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 #endif