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

sensor_msgs/TimeReference.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_sensor_msgs_TimeReference_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_TimeReference_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 #include "ros/time.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace sensor_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class TimeReference : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 ros::Time time_ref;
garyservin 0:fd24f7ca9688 19 const char* source;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 TimeReference():
garyservin 0:fd24f7ca9688 22 header(),
garyservin 0:fd24f7ca9688 23 time_ref(),
garyservin 0:fd24f7ca9688 24 source("")
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset + 0) = (this->time_ref.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset + 1) = (this->time_ref.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset + 2) = (this->time_ref.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 3) = (this->time_ref.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 36 offset += sizeof(this->time_ref.sec);
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 0) = (this->time_ref.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 1) = (this->time_ref.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 2) = (this->time_ref.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 3) = (this->time_ref.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 41 offset += sizeof(this->time_ref.nsec);
garyservin 0:fd24f7ca9688 42 uint32_t length_source = strlen(this->source);
garyservin 0:fd24f7ca9688 43 memcpy(outbuffer + offset, &length_source, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 44 offset += 4;
garyservin 0:fd24f7ca9688 45 memcpy(outbuffer + offset, this->source, length_source);
garyservin 0:fd24f7ca9688 46 offset += length_source;
garyservin 0:fd24f7ca9688 47 return offset;
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 51 {
garyservin 0:fd24f7ca9688 52 int offset = 0;
garyservin 0:fd24f7ca9688 53 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 54 this->time_ref.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 55 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 56 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 57 this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 58 offset += sizeof(this->time_ref.sec);
garyservin 0:fd24f7ca9688 59 this->time_ref.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 60 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 61 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 62 this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->time_ref.nsec);
garyservin 0:fd24f7ca9688 64 uint32_t length_source;
garyservin 0:fd24f7ca9688 65 memcpy(&length_source, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 66 offset += 4;
garyservin 0:fd24f7ca9688 67 for(unsigned int k= offset; k< offset+length_source; ++k){
garyservin 0:fd24f7ca9688 68 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70 inbuffer[offset+length_source-1]=0;
garyservin 0:fd24f7ca9688 71 this->source = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 72 offset += length_source;
garyservin 0:fd24f7ca9688 73 return offset;
garyservin 0:fd24f7ca9688 74 }
garyservin 0:fd24f7ca9688 75
garyservin 0:fd24f7ca9688 76 const char * getType(){ return "sensor_msgs/TimeReference"; };
garyservin 0:fd24f7ca9688 77 const char * getMD5(){ return "fded64a0265108ba86c3d38fb11c0c16"; };
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 };
garyservin 0:fd24f7ca9688 80
garyservin 0:fd24f7ca9688 81 }
garyservin 0:fd24f7ca9688 82 #endif