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

sensor_msgs/PointField.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_sensor_msgs_PointField_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_PointField_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
garyservin 0:9e9b7db60fd5 9 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class PointField : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef uint32_t _offset_type;
garyservin 0:9e9b7db60fd5 18 _offset_type offset;
garyservin 0:9e9b7db60fd5 19 typedef uint8_t _datatype_type;
garyservin 0:9e9b7db60fd5 20 _datatype_type datatype;
garyservin 0:9e9b7db60fd5 21 typedef uint32_t _count_type;
garyservin 0:9e9b7db60fd5 22 _count_type count;
garyservin 0:9e9b7db60fd5 23 enum { INT8 = 1 };
garyservin 0:9e9b7db60fd5 24 enum { UINT8 = 2 };
garyservin 0:9e9b7db60fd5 25 enum { INT16 = 3 };
garyservin 0:9e9b7db60fd5 26 enum { UINT16 = 4 };
garyservin 0:9e9b7db60fd5 27 enum { INT32 = 5 };
garyservin 0:9e9b7db60fd5 28 enum { UINT32 = 6 };
garyservin 0:9e9b7db60fd5 29 enum { FLOAT32 = 7 };
garyservin 0:9e9b7db60fd5 30 enum { FLOAT64 = 8 };
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 PointField():
garyservin 0:9e9b7db60fd5 33 name(""),
garyservin 0:9e9b7db60fd5 34 offset(0),
garyservin 0:9e9b7db60fd5 35 datatype(0),
garyservin 0:9e9b7db60fd5 36 count(0)
garyservin 0:9e9b7db60fd5 37 {
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 47 offset += length_name;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->offset);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->datatype);
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->count);
garyservin 0:9e9b7db60fd5 60 return offset;
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 int offset = 0;
garyservin 0:9e9b7db60fd5 66 uint32_t length_name;
garyservin 0:9e9b7db60fd5 67 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 68 offset += 4;
garyservin 0:9e9b7db60fd5 69 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 70 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 73 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 74 offset += length_name;
garyservin 0:9e9b7db60fd5 75 this->offset = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 76 this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 77 this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 78 this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->offset);
garyservin 0:9e9b7db60fd5 80 this->datatype = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->datatype);
garyservin 0:9e9b7db60fd5 82 this->count = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 83 this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->count);
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 const char * getType(){ return "sensor_msgs/PointField"; };
garyservin 0:9e9b7db60fd5 91 const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 #endif