hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

nav_msgs/OccupancyGrid.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_nav_msgs_OccupancyGrid_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_nav_msgs_OccupancyGrid_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 "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "nav_msgs/MapMetaData.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace nav_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class OccupancyGrid : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 18 _header_type header;
Gary Servin 0:04ac6be8229a 19 typedef nav_msgs::MapMetaData _info_type;
Gary Servin 0:04ac6be8229a 20 _info_type info;
Gary Servin 0:04ac6be8229a 21 uint32_t data_length;
Gary Servin 0:04ac6be8229a 22 typedef int8_t _data_type;
Gary Servin 0:04ac6be8229a 23 _data_type st_data;
Gary Servin 0:04ac6be8229a 24 _data_type * data;
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 OccupancyGrid():
Gary Servin 0:04ac6be8229a 27 header(),
Gary Servin 0:04ac6be8229a 28 info(),
Gary Servin 0:04ac6be8229a 29 data_length(0), data(NULL)
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 34 {
Gary Servin 0:04ac6be8229a 35 int offset = 0;
Gary Servin 0:04ac6be8229a 36 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 37 offset += this->info.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 43 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 44 union {
Gary Servin 0:04ac6be8229a 45 int8_t real;
Gary Servin 0:04ac6be8229a 46 uint8_t base;
Gary Servin 0:04ac6be8229a 47 } u_datai;
Gary Servin 0:04ac6be8229a 48 u_datai.real = this->data[i];
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 51 }
Gary Servin 0:04ac6be8229a 52 return offset;
Gary Servin 0:04ac6be8229a 53 }
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 int offset = 0;
Gary Servin 0:04ac6be8229a 58 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 59 offset += this->info.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 60 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 61 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 62 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 63 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 65 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 66 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
Gary Servin 0:04ac6be8229a 67 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 68 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 int8_t real;
Gary Servin 0:04ac6be8229a 71 uint8_t base;
Gary Servin 0:04ac6be8229a 72 } u_st_data;
Gary Servin 0:04ac6be8229a 73 u_st_data.base = 0;
Gary Servin 0:04ac6be8229a 74 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 75 this->st_data = u_st_data.real;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79 return offset;
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 const char * getType(){ return "nav_msgs/OccupancyGrid"; };
Gary Servin 0:04ac6be8229a 83 const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
Gary Servin 0:04ac6be8229a 84
Gary Servin 0:04ac6be8229a 85 };
Gary Servin 0:04ac6be8229a 86
Gary Servin 0:04ac6be8229a 87 }
Gary Servin 0:04ac6be8229a 88 #endif