hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

polled_camera/GetPolledImage.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_SERVICE_GetPolledImage_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_GetPolledImage_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7 #include "sensor_msgs/RegionOfInterest.h"
Gary Servin 0:04ac6be8229a 8 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 9 #include "ros/time.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace polled_camera
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage";
Gary Servin 0:04ac6be8229a 15
Gary Servin 0:04ac6be8229a 16 class GetPolledImageRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 17 {
Gary Servin 0:04ac6be8229a 18 public:
Gary Servin 0:04ac6be8229a 19 typedef const char* _response_namespace_type;
Gary Servin 0:04ac6be8229a 20 _response_namespace_type response_namespace;
Gary Servin 0:04ac6be8229a 21 typedef ros::Duration _timeout_type;
Gary Servin 0:04ac6be8229a 22 _timeout_type timeout;
Gary Servin 0:04ac6be8229a 23 typedef uint32_t _binning_x_type;
Gary Servin 0:04ac6be8229a 24 _binning_x_type binning_x;
Gary Servin 0:04ac6be8229a 25 typedef uint32_t _binning_y_type;
Gary Servin 0:04ac6be8229a 26 _binning_y_type binning_y;
Gary Servin 0:04ac6be8229a 27 typedef sensor_msgs::RegionOfInterest _roi_type;
Gary Servin 0:04ac6be8229a 28 _roi_type roi;
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 GetPolledImageRequest():
Gary Servin 0:04ac6be8229a 31 response_namespace(""),
Gary Servin 0:04ac6be8229a 32 timeout(),
Gary Servin 0:04ac6be8229a 33 binning_x(0),
Gary Servin 0:04ac6be8229a 34 binning_y(0),
Gary Servin 0:04ac6be8229a 35 roi()
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 int offset = 0;
Gary Servin 0:04ac6be8229a 42 uint32_t length_response_namespace = strlen(this->response_namespace);
Gary Servin 0:04ac6be8229a 43 varToArr(outbuffer + offset, length_response_namespace);
Gary Servin 0:04ac6be8229a 44 offset += 4;
Gary Servin 0:04ac6be8229a 45 memcpy(outbuffer + offset, this->response_namespace, length_response_namespace);
Gary Servin 0:04ac6be8229a 46 offset += length_response_namespace;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 offset += sizeof(this->timeout.sec);
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->timeout.nsec);
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->binning_x);
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->binning_y);
Gary Servin 0:04ac6be8229a 67 offset += this->roi.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 68 return offset;
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 72 {
Gary Servin 0:04ac6be8229a 73 int offset = 0;
Gary Servin 0:04ac6be8229a 74 uint32_t length_response_namespace;
Gary Servin 0:04ac6be8229a 75 arrToVar(length_response_namespace, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 76 offset += 4;
Gary Servin 0:04ac6be8229a 77 for(unsigned int k= offset; k< offset+length_response_namespace; ++k){
Gary Servin 0:04ac6be8229a 78 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80 inbuffer[offset+length_response_namespace-1]=0;
Gary Servin 0:04ac6be8229a 81 this->response_namespace = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 82 offset += length_response_namespace;
Gary Servin 0:04ac6be8229a 83 this->timeout.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 84 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 85 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 86 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->timeout.sec);
Gary Servin 0:04ac6be8229a 88 this->timeout.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 89 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 90 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 91 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->timeout.nsec);
Gary Servin 0:04ac6be8229a 93 this->binning_x = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 94 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 95 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 96 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 97 offset += sizeof(this->binning_x);
Gary Servin 0:04ac6be8229a 98 this->binning_y = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 99 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 100 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 101 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 102 offset += sizeof(this->binning_y);
Gary Servin 0:04ac6be8229a 103 offset += this->roi.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 104 return offset;
Gary Servin 0:04ac6be8229a 105 }
Gary Servin 0:04ac6be8229a 106
Gary Servin 0:04ac6be8229a 107 const char * getType(){ return GETPOLLEDIMAGE; };
Gary Servin 0:04ac6be8229a 108 const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; };
Gary Servin 0:04ac6be8229a 109
Gary Servin 0:04ac6be8229a 110 };
Gary Servin 0:04ac6be8229a 111
Gary Servin 0:04ac6be8229a 112 class GetPolledImageResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 113 {
Gary Servin 0:04ac6be8229a 114 public:
Gary Servin 0:04ac6be8229a 115 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 116 _success_type success;
Gary Servin 0:04ac6be8229a 117 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 118 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 119 typedef ros::Time _stamp_type;
Gary Servin 0:04ac6be8229a 120 _stamp_type stamp;
Gary Servin 0:04ac6be8229a 121
Gary Servin 0:04ac6be8229a 122 GetPolledImageResponse():
Gary Servin 0:04ac6be8229a 123 success(0),
Gary Servin 0:04ac6be8229a 124 status_message(""),
Gary Servin 0:04ac6be8229a 125 stamp()
Gary Servin 0:04ac6be8229a 126 {
Gary Servin 0:04ac6be8229a 127 }
Gary Servin 0:04ac6be8229a 128
Gary Servin 0:04ac6be8229a 129 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 130 {
Gary Servin 0:04ac6be8229a 131 int offset = 0;
Gary Servin 0:04ac6be8229a 132 union {
Gary Servin 0:04ac6be8229a 133 bool real;
Gary Servin 0:04ac6be8229a 134 uint8_t base;
Gary Servin 0:04ac6be8229a 135 } u_success;
Gary Servin 0:04ac6be8229a 136 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 137 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 138 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 139 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 140 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 141 offset += 4;
Gary Servin 0:04ac6be8229a 142 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 143 offset += length_status_message;
Gary Servin 0:04ac6be8229a 144 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 145 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 146 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 147 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 148 offset += sizeof(this->stamp.sec);
Gary Servin 0:04ac6be8229a 149 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 150 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 151 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 152 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 153 offset += sizeof(this->stamp.nsec);
Gary Servin 0:04ac6be8229a 154 return offset;
Gary Servin 0:04ac6be8229a 155 }
Gary Servin 0:04ac6be8229a 156
Gary Servin 0:04ac6be8229a 157 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 158 {
Gary Servin 0:04ac6be8229a 159 int offset = 0;
Gary Servin 0:04ac6be8229a 160 union {
Gary Servin 0:04ac6be8229a 161 bool real;
Gary Servin 0:04ac6be8229a 162 uint8_t base;
Gary Servin 0:04ac6be8229a 163 } u_success;
Gary Servin 0:04ac6be8229a 164 u_success.base = 0;
Gary Servin 0:04ac6be8229a 165 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 166 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 167 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 168 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 169 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 170 offset += 4;
Gary Servin 0:04ac6be8229a 171 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 172 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 173 }
Gary Servin 0:04ac6be8229a 174 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 175 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 176 offset += length_status_message;
Gary Servin 0:04ac6be8229a 177 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 178 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 179 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 180 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 181 offset += sizeof(this->stamp.sec);
Gary Servin 0:04ac6be8229a 182 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 183 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 184 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 185 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 186 offset += sizeof(this->stamp.nsec);
Gary Servin 0:04ac6be8229a 187 return offset;
Gary Servin 0:04ac6be8229a 188 }
Gary Servin 0:04ac6be8229a 189
Gary Servin 0:04ac6be8229a 190 const char * getType(){ return GETPOLLEDIMAGE; };
Gary Servin 0:04ac6be8229a 191 const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; };
Gary Servin 0:04ac6be8229a 192
Gary Servin 0:04ac6be8229a 193 };
Gary Servin 0:04ac6be8229a 194
Gary Servin 0:04ac6be8229a 195 class GetPolledImage {
Gary Servin 0:04ac6be8229a 196 public:
Gary Servin 0:04ac6be8229a 197 typedef GetPolledImageRequest Request;
Gary Servin 0:04ac6be8229a 198 typedef GetPolledImageResponse Response;
Gary Servin 0:04ac6be8229a 199 };
Gary Servin 0:04ac6be8229a 200
Gary Servin 0:04ac6be8229a 201 }
Gary Servin 0:04ac6be8229a 202 #endif