Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

sensor_msgs/ChannelFloat32.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_ChannelFloat32_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class ChannelFloat32 : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 16 _name_type name;
Gary Servin 0:04ac6be8229a 17 uint32_t values_length;
Gary Servin 0:04ac6be8229a 18 typedef float _values_type;
Gary Servin 0:04ac6be8229a 19 _values_type st_values;
Gary Servin 0:04ac6be8229a 20 _values_type * values;
Gary Servin 0:04ac6be8229a 21
Gary Servin 0:04ac6be8229a 22 ChannelFloat32():
Gary Servin 0:04ac6be8229a 23 name(""),
Gary Servin 0:04ac6be8229a 24 values_length(0), values(NULL)
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 }
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 int offset = 0;
Gary Servin 0:04ac6be8229a 31 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 32 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 33 offset += 4;
Gary Servin 0:04ac6be8229a 34 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 35 offset += length_name;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 41 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 42 union {
Gary Servin 0:04ac6be8229a 43 float real;
Gary Servin 0:04ac6be8229a 44 uint32_t base;
Gary Servin 0:04ac6be8229a 45 } u_valuesi;
Gary Servin 0:04ac6be8229a 46 u_valuesi.real = this->values[i];
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 offset += sizeof(this->values[i]);
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53 return offset;
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 57 {
Gary Servin 0:04ac6be8229a 58 int offset = 0;
Gary Servin 0:04ac6be8229a 59 uint32_t length_name;
Gary Servin 0:04ac6be8229a 60 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 61 offset += 4;
Gary Servin 0:04ac6be8229a 62 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 63 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 66 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 67 offset += length_name;
Gary Servin 0:04ac6be8229a 68 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 69 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 70 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 71 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 72 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 73 if(values_lengthT > values_length)
Gary Servin 0:04ac6be8229a 74 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 75 values_length = values_lengthT;
Gary Servin 0:04ac6be8229a 76 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 77 union {
Gary Servin 0:04ac6be8229a 78 float real;
Gary Servin 0:04ac6be8229a 79 uint32_t base;
Gary Servin 0:04ac6be8229a 80 } u_st_values;
Gary Servin 0:04ac6be8229a 81 u_st_values.base = 0;
Gary Servin 0:04ac6be8229a 82 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 83 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 84 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 85 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 86 this->st_values = u_st_values.real;
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->st_values);
Gary Servin 0:04ac6be8229a 88 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
Gary Servin 0:04ac6be8229a 89 }
Gary Servin 0:04ac6be8229a 90 return offset;
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
Gary Servin 0:04ac6be8229a 94 const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
Gary Servin 0:04ac6be8229a 95
Gary Servin 0:04ac6be8229a 96 };
Gary Servin 0:04ac6be8229a 97
Gary Servin 0:04ac6be8229a 98 }
Gary Servin 0:04ac6be8229a 99 #endif