hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

sensor_msgs/PointField.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_sensor_msgs_PointField_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_PointField_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
Gary Servin 0:04ac6be8229a 9 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class PointField : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 16 _name_type name;
Gary Servin 0:04ac6be8229a 17 typedef uint32_t _offset_type;
Gary Servin 0:04ac6be8229a 18 _offset_type offset;
Gary Servin 0:04ac6be8229a 19 typedef uint8_t _datatype_type;
Gary Servin 0:04ac6be8229a 20 _datatype_type datatype;
Gary Servin 0:04ac6be8229a 21 typedef uint32_t _count_type;
Gary Servin 0:04ac6be8229a 22 _count_type count;
Gary Servin 0:04ac6be8229a 23 enum { INT8 = 1 };
Gary Servin 0:04ac6be8229a 24 enum { UINT8 = 2 };
Gary Servin 0:04ac6be8229a 25 enum { INT16 = 3 };
Gary Servin 0:04ac6be8229a 26 enum { UINT16 = 4 };
Gary Servin 0:04ac6be8229a 27 enum { INT32 = 5 };
Gary Servin 0:04ac6be8229a 28 enum { UINT32 = 6 };
Gary Servin 0:04ac6be8229a 29 enum { FLOAT32 = 7 };
Gary Servin 0:04ac6be8229a 30 enum { FLOAT64 = 8 };
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 PointField():
Gary Servin 0:04ac6be8229a 33 name(""),
Gary Servin 0:04ac6be8229a 34 offset(0),
Gary Servin 0:04ac6be8229a 35 datatype(0),
Gary Servin 0:04ac6be8229a 36 count(0)
Gary Servin 0:04ac6be8229a 37 {
Gary Servin 0:04ac6be8229a 38 }
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 int offset = 0;
Gary Servin 0:04ac6be8229a 43 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 44 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 45 offset += 4;
Gary Servin 0:04ac6be8229a 46 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 47 offset += length_name;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->offset);
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 offset += sizeof(this->datatype);
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 offset += sizeof(this->count);
Gary Servin 0:04ac6be8229a 60 return offset;
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62
Gary Servin 0:04ac6be8229a 63 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 64 {
Gary Servin 0:04ac6be8229a 65 int offset = 0;
Gary Servin 0:04ac6be8229a 66 uint32_t length_name;
Gary Servin 0:04ac6be8229a 67 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 68 offset += 4;
Gary Servin 0:04ac6be8229a 69 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 70 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 71 }
Gary Servin 0:04ac6be8229a 72 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 73 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 74 offset += length_name;
Gary Servin 0:04ac6be8229a 75 this->offset = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 76 this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 77 this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 78 this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 79 offset += sizeof(this->offset);
Gary Servin 0:04ac6be8229a 80 this->datatype = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 81 offset += sizeof(this->datatype);
Gary Servin 0:04ac6be8229a 82 this->count = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 83 this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 84 this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 85 this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 86 offset += sizeof(this->count);
Gary Servin 0:04ac6be8229a 87 return offset;
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89
Gary Servin 0:04ac6be8229a 90 const char * getType(){ return "sensor_msgs/PointField"; };
Gary Servin 0:04ac6be8229a 91 const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 };
Gary Servin 0:04ac6be8229a 94
Gary Servin 0:04ac6be8229a 95 }
Gary Servin 0:04ac6be8229a 96 #endif