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

polled_camera/GetPolledImage.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_SERVICE_GetPolledImage_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_GetPolledImage_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7 #include "sensor_msgs/RegionOfInterest.h"
garyservin 0:fd24f7ca9688 8 #include "ros/duration.h"
garyservin 0:fd24f7ca9688 9 #include "ros/time.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace polled_camera
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage";
garyservin 0:fd24f7ca9688 15
garyservin 0:fd24f7ca9688 16 class GetPolledImageRequest : public ros::Msg
garyservin 0:fd24f7ca9688 17 {
garyservin 0:fd24f7ca9688 18 public:
garyservin 0:fd24f7ca9688 19 const char* response_namespace;
garyservin 0:fd24f7ca9688 20 ros::Duration timeout;
garyservin 0:fd24f7ca9688 21 uint32_t binning_x;
garyservin 0:fd24f7ca9688 22 uint32_t binning_y;
garyservin 0:fd24f7ca9688 23 sensor_msgs::RegionOfInterest roi;
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 GetPolledImageRequest():
garyservin 0:fd24f7ca9688 26 response_namespace(""),
garyservin 0:fd24f7ca9688 27 timeout(),
garyservin 0:fd24f7ca9688 28 binning_x(0),
garyservin 0:fd24f7ca9688 29 binning_y(0),
garyservin 0:fd24f7ca9688 30 roi()
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 uint32_t length_response_namespace = strlen(this->response_namespace);
garyservin 0:fd24f7ca9688 38 memcpy(outbuffer + offset, &length_response_namespace, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 39 offset += 4;
garyservin 0:fd24f7ca9688 40 memcpy(outbuffer + offset, this->response_namespace, length_response_namespace);
garyservin 0:fd24f7ca9688 41 offset += length_response_namespace;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 46 offset += sizeof(this->timeout.sec);
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 51 offset += sizeof(this->timeout.nsec);
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 56 offset += sizeof(this->binning_x);
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 61 offset += sizeof(this->binning_y);
garyservin 0:fd24f7ca9688 62 offset += this->roi.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 63 return offset;
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 67 {
garyservin 0:fd24f7ca9688 68 int offset = 0;
garyservin 0:fd24f7ca9688 69 uint32_t length_response_namespace;
garyservin 0:fd24f7ca9688 70 memcpy(&length_response_namespace, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 71 offset += 4;
garyservin 0:fd24f7ca9688 72 for(unsigned int k= offset; k< offset+length_response_namespace; ++k){
garyservin 0:fd24f7ca9688 73 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 74 }
garyservin 0:fd24f7ca9688 75 inbuffer[offset+length_response_namespace-1]=0;
garyservin 0:fd24f7ca9688 76 this->response_namespace = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 77 offset += length_response_namespace;
garyservin 0:fd24f7ca9688 78 this->timeout.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 79 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 80 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 81 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 82 offset += sizeof(this->timeout.sec);
garyservin 0:fd24f7ca9688 83 this->timeout.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 84 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 85 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 86 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 87 offset += sizeof(this->timeout.nsec);
garyservin 0:fd24f7ca9688 88 this->binning_x = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 89 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 90 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 91 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 92 offset += sizeof(this->binning_x);
garyservin 0:fd24f7ca9688 93 this->binning_y = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 94 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 95 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 96 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 97 offset += sizeof(this->binning_y);
garyservin 0:fd24f7ca9688 98 offset += this->roi.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 99 return offset;
garyservin 0:fd24f7ca9688 100 }
garyservin 0:fd24f7ca9688 101
garyservin 0:fd24f7ca9688 102 const char * getType(){ return GETPOLLEDIMAGE; };
garyservin 0:fd24f7ca9688 103 const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; };
garyservin 0:fd24f7ca9688 104
garyservin 0:fd24f7ca9688 105 };
garyservin 0:fd24f7ca9688 106
garyservin 0:fd24f7ca9688 107 class GetPolledImageResponse : public ros::Msg
garyservin 0:fd24f7ca9688 108 {
garyservin 0:fd24f7ca9688 109 public:
garyservin 0:fd24f7ca9688 110 bool success;
garyservin 0:fd24f7ca9688 111 const char* status_message;
garyservin 0:fd24f7ca9688 112 ros::Time stamp;
garyservin 0:fd24f7ca9688 113
garyservin 0:fd24f7ca9688 114 GetPolledImageResponse():
garyservin 0:fd24f7ca9688 115 success(0),
garyservin 0:fd24f7ca9688 116 status_message(""),
garyservin 0:fd24f7ca9688 117 stamp()
garyservin 0:fd24f7ca9688 118 {
garyservin 0:fd24f7ca9688 119 }
garyservin 0:fd24f7ca9688 120
garyservin 0:fd24f7ca9688 121 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 122 {
garyservin 0:fd24f7ca9688 123 int offset = 0;
garyservin 0:fd24f7ca9688 124 union {
garyservin 0:fd24f7ca9688 125 bool real;
garyservin 0:fd24f7ca9688 126 uint8_t base;
garyservin 0:fd24f7ca9688 127 } u_success;
garyservin 0:fd24f7ca9688 128 u_success.real = this->success;
garyservin 0:fd24f7ca9688 129 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 130 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 131 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 132 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 133 offset += 4;
garyservin 0:fd24f7ca9688 134 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 135 offset += length_status_message;
garyservin 0:fd24f7ca9688 136 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 137 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 138 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 139 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 140 offset += sizeof(this->stamp.sec);
garyservin 0:fd24f7ca9688 141 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 142 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 143 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 144 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 145 offset += sizeof(this->stamp.nsec);
garyservin 0:fd24f7ca9688 146 return offset;
garyservin 0:fd24f7ca9688 147 }
garyservin 0:fd24f7ca9688 148
garyservin 0:fd24f7ca9688 149 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 150 {
garyservin 0:fd24f7ca9688 151 int offset = 0;
garyservin 0:fd24f7ca9688 152 union {
garyservin 0:fd24f7ca9688 153 bool real;
garyservin 0:fd24f7ca9688 154 uint8_t base;
garyservin 0:fd24f7ca9688 155 } u_success;
garyservin 0:fd24f7ca9688 156 u_success.base = 0;
garyservin 0:fd24f7ca9688 157 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 158 this->success = u_success.real;
garyservin 0:fd24f7ca9688 159 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 160 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 161 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 162 offset += 4;
garyservin 0:fd24f7ca9688 163 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 164 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 165 }
garyservin 0:fd24f7ca9688 166 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 167 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 168 offset += length_status_message;
garyservin 0:fd24f7ca9688 169 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 170 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 171 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 172 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 173 offset += sizeof(this->stamp.sec);
garyservin 0:fd24f7ca9688 174 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 175 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 176 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 177 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 178 offset += sizeof(this->stamp.nsec);
garyservin 0:fd24f7ca9688 179 return offset;
garyservin 0:fd24f7ca9688 180 }
garyservin 0:fd24f7ca9688 181
garyservin 0:fd24f7ca9688 182 const char * getType(){ return GETPOLLEDIMAGE; };
garyservin 0:fd24f7ca9688 183 const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; };
garyservin 0:fd24f7ca9688 184
garyservin 0:fd24f7ca9688 185 };
garyservin 0:fd24f7ca9688 186
garyservin 0:fd24f7ca9688 187 class GetPolledImage {
garyservin 0:fd24f7ca9688 188 public:
garyservin 0:fd24f7ca9688 189 typedef GetPolledImageRequest Request;
garyservin 0:fd24f7ca9688 190 typedef GetPolledImageResponse Response;
garyservin 0:fd24f7ca9688 191 };
garyservin 0:fd24f7ca9688 192
garyservin 0:fd24f7ca9688 193 }
garyservin 0:fd24f7ca9688 194 #endif