hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

geometry_msgs/Polygon.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_geometry_msgs_Polygon_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_geometry_msgs_Polygon_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/Point32.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace geometry_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Polygon : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 uint32_t points_length;
Gary Servin 0:04ac6be8229a 17 typedef geometry_msgs::Point32 _points_type;
Gary Servin 0:04ac6be8229a 18 _points_type st_points;
Gary Servin 0:04ac6be8229a 19 _points_type * points;
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 Polygon():
Gary Servin 0:04ac6be8229a 22 points_length(0), points(NULL)
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 }
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 int offset = 0;
Gary Servin 0:04ac6be8229a 29 *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 30 *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 31 *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 32 *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 offset += sizeof(this->points_length);
Gary Servin 0:04ac6be8229a 34 for( uint32_t i = 0; i < points_length; i++){
Gary Servin 0:04ac6be8229a 35 offset += this->points[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37 return offset;
Gary Servin 0:04ac6be8229a 38 }
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 int offset = 0;
Gary Servin 0:04ac6be8229a 43 uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 44 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 45 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 46 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->points_length);
Gary Servin 0:04ac6be8229a 48 if(points_lengthT > points_length)
Gary Servin 0:04ac6be8229a 49 this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
Gary Servin 0:04ac6be8229a 50 points_length = points_lengthT;
Gary Servin 0:04ac6be8229a 51 for( uint32_t i = 0; i < points_length; i++){
Gary Servin 0:04ac6be8229a 52 offset += this->st_points.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 53 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55 return offset;
Gary Servin 0:04ac6be8229a 56 }
Gary Servin 0:04ac6be8229a 57
Gary Servin 0:04ac6be8229a 58 const char * getType(){ return "geometry_msgs/Polygon"; };
Gary Servin 0:04ac6be8229a 59 const char * getMD5(){ return "cd60a26494a087f577976f0329fa120e"; };
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 };
Gary Servin 0:04ac6be8229a 62
Gary Servin 0:04ac6be8229a 63 }
Gary Servin 0:04ac6be8229a 64 #endif