Increased buffer size
Fork of ros_lib_kinetic by
sensor_msgs/MultiDOFJointState.h
- Committer:
- jvfausto
- Date:
- 2018-11-02
- Revision:
- 2:2e7b61982dd2
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:2e7b61982dd2:
#ifndef _ROS_sensor_msgs_MultiDOFJointState_h #define _ROS_sensor_msgs_MultiDOFJointState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/Transform.h" #include "geometry_msgs/Twist.h" #include "geometry_msgs/Wrench.h" namespace sensor_msgs { class MultiDOFJointState : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; uint32_t joint_names_length; typedef char* _joint_names_type; _joint_names_type st_joint_names; _joint_names_type * joint_names; uint32_t transforms_length; typedef geometry_msgs::Transform _transforms_type; _transforms_type st_transforms; _transforms_type * transforms; uint32_t twist_length; typedef geometry_msgs::Twist _twist_type; _twist_type st_twist; _twist_type * twist; uint32_t wrench_length; typedef geometry_msgs::Wrench _wrench_type; _wrench_type st_wrench; _wrench_type * wrench; MultiDOFJointState(): header(), joint_names_length(0), joint_names(NULL), transforms_length(0), transforms(NULL), twist_length(0), twist(NULL), wrench_length(0), wrench(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; offset += sizeof(this->joint_names_length); for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_joint_namesi = strlen(this->joint_names[i]); varToArr(outbuffer + offset, length_joint_namesi); offset += 4; memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); offset += length_joint_namesi; } *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; offset += sizeof(this->transforms_length); for( uint32_t i = 0; i < transforms_length; i++){ offset += this->transforms[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; offset += sizeof(this->twist_length); for( uint32_t i = 0; i < twist_length; i++){ offset += this->twist[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF; offset += sizeof(this->wrench_length); for( uint32_t i = 0; i < wrench_length; i++){ offset += this->wrench[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->joint_names_length); if(joint_names_lengthT > joint_names_length) this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); joint_names_length = joint_names_lengthT; for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_st_joint_names; arrToVar(length_st_joint_names, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_joint_names-1]=0; this->st_joint_names = (char *)(inbuffer + offset-1); offset += length_st_joint_names; memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); } uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->transforms_length); if(transforms_lengthT > transforms_length) this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); transforms_length = transforms_lengthT; for( uint32_t i = 0; i < transforms_length; i++){ offset += this->st_transforms.deserialize(inbuffer + offset); memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); } uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->twist_length); if(twist_lengthT > twist_length) this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); twist_length = twist_lengthT; for( uint32_t i = 0; i < twist_length; i++){ offset += this->st_twist.deserialize(inbuffer + offset); memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); } uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->wrench_length); if(wrench_lengthT > wrench_length) this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench)); wrench_length = wrench_lengthT; for( uint32_t i = 0; i < wrench_length; i++){ offset += this->st_wrench.deserialize(inbuffer + offset); memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench)); } return offset; } const char * getType(){ return "sensor_msgs/MultiDOFJointState"; }; const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; }; }; } #endif