駿 高世 / ros_lib_kinetic

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

Dependencies:   BufferedSerial

Dependents:   abu2019_mr1

pcl_msgs/ModelCoefficients.h@2:5097aadf59e5, 2018-12-07 (annotated)

Committer:
nakedt555
Date:
Fri Dec 07 20:59:23 2018 +0000
Revision:
2:5097aadf59e5
Parent:
0:9e9b7db60fd5 
buffer capacity changed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_pcl_msgs_ModelCoefficients_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_pcl_msgs_ModelCoefficients_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
garyservin 0:9e9b7db60fd5 10 namespace pcl_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class ModelCoefficients : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 uint32_t values_length;
garyservin 0:9e9b7db60fd5 19 typedef float _values_type;
garyservin 0:9e9b7db60fd5 20 _values_type st_values;
garyservin 0:9e9b7db60fd5 21 _values_type * values;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 ModelCoefficients():
garyservin 0:9e9b7db60fd5 24 header(),
garyservin 0:9e9b7db60fd5 25 values_length(0), values(NULL)
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 38 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 float real;
garyservin 0:9e9b7db60fd5 41 uint32_t base;
garyservin 0:9e9b7db60fd5 42 } u_valuesi;
garyservin 0:9e9b7db60fd5 43 u_valuesi.real = this->values[i];
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->values[i]);
garyservin 0:9e9b7db60fd5 49 }
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 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 59 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 60 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 62 if(values_lengthT > values_length)
garyservin 0:9e9b7db60fd5 63 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 64 values_length = values_lengthT;
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 66 union {
garyservin 0:9e9b7db60fd5 67 float real;
garyservin 0:9e9b7db60fd5 68 uint32_t base;
garyservin 0:9e9b7db60fd5 69 } u_st_values;
garyservin 0:9e9b7db60fd5 70 u_st_values.base = 0;
garyservin 0:9e9b7db60fd5 71 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 72 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 73 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 74 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 75 this->st_values = u_st_values.real;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->st_values);
garyservin 0:9e9b7db60fd5 77 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 const char * getType(){ return "pcl_msgs/ModelCoefficients"; };
garyservin 0:9e9b7db60fd5 83 const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 #endif