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/Range.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_Range_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_Range_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
Gary Servin 0:04ac6be8229a 10 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Range : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 typedef uint8_t _radiation_type_type;
Gary Servin 0:04ac6be8229a 19 _radiation_type_type radiation_type;
Gary Servin 0:04ac6be8229a 20 typedef float _field_of_view_type;
Gary Servin 0:04ac6be8229a 21 _field_of_view_type field_of_view;
Gary Servin 0:04ac6be8229a 22 typedef float _min_range_type;
Gary Servin 0:04ac6be8229a 23 _min_range_type min_range;
Gary Servin 0:04ac6be8229a 24 typedef float _max_range_type;
Gary Servin 0:04ac6be8229a 25 _max_range_type max_range;
Gary Servin 0:04ac6be8229a 26 typedef float _range_type;
Gary Servin 0:04ac6be8229a 27 _range_type range;
Gary Servin 0:04ac6be8229a 28 enum { ULTRASOUND = 0 };
Gary Servin 0:04ac6be8229a 29 enum { INFRARED = 1 };
Gary Servin 0:04ac6be8229a 30
Gary Servin 0:04ac6be8229a 31 Range():
Gary Servin 0:04ac6be8229a 32 header(),
Gary Servin 0:04ac6be8229a 33 radiation_type(0),
Gary Servin 0:04ac6be8229a 34 field_of_view(0),
Gary Servin 0:04ac6be8229a 35 min_range(0),
Gary Servin 0:04ac6be8229a 36 max_range(0),
Gary Servin 0:04ac6be8229a 37 range(0)
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 }
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 42 {
Gary Servin 0:04ac6be8229a 43 int offset = 0;
Gary Servin 0:04ac6be8229a 44 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 offset += sizeof(this->radiation_type);
Gary Servin 0:04ac6be8229a 47 union {
Gary Servin 0:04ac6be8229a 48 float real;
Gary Servin 0:04ac6be8229a 49 uint32_t base;
Gary Servin 0:04ac6be8229a 50 } u_field_of_view;
Gary Servin 0:04ac6be8229a 51 u_field_of_view.real = this->field_of_view;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->field_of_view);
Gary Servin 0:04ac6be8229a 57 union {
Gary Servin 0:04ac6be8229a 58 float real;
Gary Servin 0:04ac6be8229a 59 uint32_t base;
Gary Servin 0:04ac6be8229a 60 } u_min_range;
Gary Servin 0:04ac6be8229a 61 u_min_range.real = this->min_range;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->min_range);
Gary Servin 0:04ac6be8229a 67 union {
Gary Servin 0:04ac6be8229a 68 float real;
Gary Servin 0:04ac6be8229a 69 uint32_t base;
Gary Servin 0:04ac6be8229a 70 } u_max_range;
Gary Servin 0:04ac6be8229a 71 u_max_range.real = this->max_range;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->max_range);
Gary Servin 0:04ac6be8229a 77 union {
Gary Servin 0:04ac6be8229a 78 float real;
Gary Servin 0:04ac6be8229a 79 uint32_t base;
Gary Servin 0:04ac6be8229a 80 } u_range;
Gary Servin 0:04ac6be8229a 81 u_range.real = this->range;
Gary Servin 0:04ac6be8229a 82 *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 offset += sizeof(this->range);
Gary Servin 0:04ac6be8229a 87 return offset;
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89
Gary Servin 0:04ac6be8229a 90 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 91 {
Gary Servin 0:04ac6be8229a 92 int offset = 0;
Gary Servin 0:04ac6be8229a 93 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 94 this->radiation_type = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 95 offset += sizeof(this->radiation_type);
Gary Servin 0:04ac6be8229a 96 union {
Gary Servin 0:04ac6be8229a 97 float real;
Gary Servin 0:04ac6be8229a 98 uint32_t base;
Gary Servin 0:04ac6be8229a 99 } u_field_of_view;
Gary Servin 0:04ac6be8229a 100 u_field_of_view.base = 0;
Gary Servin 0:04ac6be8229a 101 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 102 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 103 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 104 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 105 this->field_of_view = u_field_of_view.real;
Gary Servin 0:04ac6be8229a 106 offset += sizeof(this->field_of_view);
Gary Servin 0:04ac6be8229a 107 union {
Gary Servin 0:04ac6be8229a 108 float real;
Gary Servin 0:04ac6be8229a 109 uint32_t base;
Gary Servin 0:04ac6be8229a 110 } u_min_range;
Gary Servin 0:04ac6be8229a 111 u_min_range.base = 0;
Gary Servin 0:04ac6be8229a 112 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 113 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 114 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 115 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 116 this->min_range = u_min_range.real;
Gary Servin 0:04ac6be8229a 117 offset += sizeof(this->min_range);
Gary Servin 0:04ac6be8229a 118 union {
Gary Servin 0:04ac6be8229a 119 float real;
Gary Servin 0:04ac6be8229a 120 uint32_t base;
Gary Servin 0:04ac6be8229a 121 } u_max_range;
Gary Servin 0:04ac6be8229a 122 u_max_range.base = 0;
Gary Servin 0:04ac6be8229a 123 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 124 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 125 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 126 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 127 this->max_range = u_max_range.real;
Gary Servin 0:04ac6be8229a 128 offset += sizeof(this->max_range);
Gary Servin 0:04ac6be8229a 129 union {
Gary Servin 0:04ac6be8229a 130 float real;
Gary Servin 0:04ac6be8229a 131 uint32_t base;
Gary Servin 0:04ac6be8229a 132 } u_range;
Gary Servin 0:04ac6be8229a 133 u_range.base = 0;
Gary Servin 0:04ac6be8229a 134 u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 135 u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 136 u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 137 u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 138 this->range = u_range.real;
Gary Servin 0:04ac6be8229a 139 offset += sizeof(this->range);
Gary Servin 0:04ac6be8229a 140 return offset;
Gary Servin 0:04ac6be8229a 141 }
Gary Servin 0:04ac6be8229a 142
Gary Servin 0:04ac6be8229a 143 const char * getType(){ return "sensor_msgs/Range"; };
Gary Servin 0:04ac6be8229a 144 const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };
Gary Servin 0:04ac6be8229a 145
Gary Servin 0:04ac6be8229a 146 };
Gary Servin 0:04ac6be8229a 147
Gary Servin 0:04ac6be8229a 148 }
Gary Servin 0:04ac6be8229a 149 #endif