ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

map_msgs/OccupancyGridUpdate.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_map_msgs_OccupancyGridUpdate_h
garyservin 0:fd24f7ca9688 2 #define _ROS_map_msgs_OccupancyGridUpdate_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace map_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class OccupancyGridUpdate : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 int32_t x;
garyservin 0:fd24f7ca9688 18 int32_t y;
garyservin 0:fd24f7ca9688 19 uint32_t width;
garyservin 0:fd24f7ca9688 20 uint32_t height;
garyservin 0:fd24f7ca9688 21 uint8_t data_length;
garyservin 0:fd24f7ca9688 22 int8_t st_data;
garyservin 0:fd24f7ca9688 23 int8_t * data;
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 OccupancyGridUpdate():
garyservin 0:fd24f7ca9688 26 header(),
garyservin 0:fd24f7ca9688 27 x(0),
garyservin 0:fd24f7ca9688 28 y(0),
garyservin 0:fd24f7ca9688 29 width(0),
garyservin 0:fd24f7ca9688 30 height(0),
garyservin 0:fd24f7ca9688 31 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 32 {
garyservin 0:fd24f7ca9688 33 }
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 36 {
garyservin 0:fd24f7ca9688 37 int offset = 0;
garyservin 0:fd24f7ca9688 38 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 39 union {
garyservin 0:fd24f7ca9688 40 int32_t real;
garyservin 0:fd24f7ca9688 41 uint32_t base;
garyservin 0:fd24f7ca9688 42 } u_x;
garyservin 0:fd24f7ca9688 43 u_x.real = this->x;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 48 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 49 union {
garyservin 0:fd24f7ca9688 50 int32_t real;
garyservin 0:fd24f7ca9688 51 uint32_t base;
garyservin 0:fd24f7ca9688 52 } u_y;
garyservin 0:fd24f7ca9688 53 u_y.real = this->y;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 58 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 68 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 73 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 74 union {
garyservin 0:fd24f7ca9688 75 int8_t real;
garyservin 0:fd24f7ca9688 76 uint8_t base;
garyservin 0:fd24f7ca9688 77 } u_datai;
garyservin 0:fd24f7ca9688 78 u_datai.real = this->data[i];
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 80 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 81 }
garyservin 0:fd24f7ca9688 82 return offset;
garyservin 0:fd24f7ca9688 83 }
garyservin 0:fd24f7ca9688 84
garyservin 0:fd24f7ca9688 85 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 86 {
garyservin 0:fd24f7ca9688 87 int offset = 0;
garyservin 0:fd24f7ca9688 88 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 89 union {
garyservin 0:fd24f7ca9688 90 int32_t real;
garyservin 0:fd24f7ca9688 91 uint32_t base;
garyservin 0:fd24f7ca9688 92 } u_x;
garyservin 0:fd24f7ca9688 93 u_x.base = 0;
garyservin 0:fd24f7ca9688 94 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 95 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 96 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 97 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 98 this->x = u_x.real;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 100 union {
garyservin 0:fd24f7ca9688 101 int32_t real;
garyservin 0:fd24f7ca9688 102 uint32_t base;
garyservin 0:fd24f7ca9688 103 } u_y;
garyservin 0:fd24f7ca9688 104 u_y.base = 0;
garyservin 0:fd24f7ca9688 105 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 106 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 107 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 108 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 109 this->y = u_y.real;
garyservin 0:fd24f7ca9688 110 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 111 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 112 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 113 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 114 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 115 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 116 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 117 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 118 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 119 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 120 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 121 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 122 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 123 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:fd24f7ca9688 124 offset += 3;
garyservin 0:fd24f7ca9688 125 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 126 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 127 union {
garyservin 0:fd24f7ca9688 128 int8_t real;
garyservin 0:fd24f7ca9688 129 uint8_t base;
garyservin 0:fd24f7ca9688 130 } u_st_data;
garyservin 0:fd24f7ca9688 131 u_st_data.base = 0;
garyservin 0:fd24f7ca9688 132 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 133 this->st_data = u_st_data.real;
garyservin 0:fd24f7ca9688 134 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 135 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:fd24f7ca9688 136 }
garyservin 0:fd24f7ca9688 137 return offset;
garyservin 0:fd24f7ca9688 138 }
garyservin 0:fd24f7ca9688 139
garyservin 0:fd24f7ca9688 140 const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
garyservin 0:fd24f7ca9688 141 const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
garyservin 0:fd24f7ca9688 142
garyservin 0:fd24f7ca9688 143 };
garyservin 0:fd24f7ca9688 144
garyservin 0:fd24f7ca9688 145 }
garyservin 0:fd24f7ca9688 146 #endif