hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

shape_msgs/Mesh.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_shape_msgs_Mesh_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_shape_msgs_Mesh_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 "shape_msgs/MeshTriangle.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/Point.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace shape_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class Mesh : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 uint32_t triangles_length;
Gary Servin 0:04ac6be8229a 18 typedef shape_msgs::MeshTriangle _triangles_type;
Gary Servin 0:04ac6be8229a 19 _triangles_type st_triangles;
Gary Servin 0:04ac6be8229a 20 _triangles_type * triangles;
Gary Servin 0:04ac6be8229a 21 uint32_t vertices_length;
Gary Servin 0:04ac6be8229a 22 typedef geometry_msgs::Point _vertices_type;
Gary Servin 0:04ac6be8229a 23 _vertices_type st_vertices;
Gary Servin 0:04ac6be8229a 24 _vertices_type * vertices;
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 Mesh():
Gary Servin 0:04ac6be8229a 27 triangles_length(0), triangles(NULL),
Gary Servin 0:04ac6be8229a 28 vertices_length(0), vertices(NULL)
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 }
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 int offset = 0;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 offset += sizeof(this->triangles_length);
Gary Servin 0:04ac6be8229a 40 for( uint32_t i = 0; i < triangles_length; i++){
Gary Servin 0:04ac6be8229a 41 offset += this->triangles[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 42 }
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->vertices_length);
Gary Servin 0:04ac6be8229a 48 for( uint32_t i = 0; i < vertices_length; i++){
Gary Servin 0:04ac6be8229a 49 offset += this->vertices[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51 return offset;
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53
Gary Servin 0:04ac6be8229a 54 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 55 {
Gary Servin 0:04ac6be8229a 56 int offset = 0;
Gary Servin 0:04ac6be8229a 57 uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 58 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 59 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 60 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->triangles_length);
Gary Servin 0:04ac6be8229a 62 if(triangles_lengthT > triangles_length)
Gary Servin 0:04ac6be8229a 63 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
Gary Servin 0:04ac6be8229a 64 triangles_length = triangles_lengthT;
Gary Servin 0:04ac6be8229a 65 for( uint32_t i = 0; i < triangles_length; i++){
Gary Servin 0:04ac6be8229a 66 offset += this->st_triangles.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 67 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69 uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 70 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 71 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 72 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->vertices_length);
Gary Servin 0:04ac6be8229a 74 if(vertices_lengthT > vertices_length)
Gary Servin 0:04ac6be8229a 75 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
Gary Servin 0:04ac6be8229a 76 vertices_length = vertices_lengthT;
Gary Servin 0:04ac6be8229a 77 for( uint32_t i = 0; i < vertices_length; i++){
Gary Servin 0:04ac6be8229a 78 offset += this->st_vertices.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 79 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81 return offset;
Gary Servin 0:04ac6be8229a 82 }
Gary Servin 0:04ac6be8229a 83
Gary Servin 0:04ac6be8229a 84 const char * getType(){ return "shape_msgs/Mesh"; };
Gary Servin 0:04ac6be8229a 85 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
Gary Servin 0:04ac6be8229a 86
Gary Servin 0:04ac6be8229a 87 };
Gary Servin 0:04ac6be8229a 88
Gary Servin 0:04ac6be8229a 89 }
Gary Servin 0:04ac6be8229a 90 #endif