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/Plane.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_Plane_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_shape_msgs_Plane_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 shape_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class Plane : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 double coef[4];
Gary Servin 0:04ac6be8229a 16
Gary Servin 0:04ac6be8229a 17 Plane():
Gary Servin 0:04ac6be8229a 18 coef()
Gary Servin 0:04ac6be8229a 19 {
Gary Servin 0:04ac6be8229a 20 }
Gary Servin 0:04ac6be8229a 21
Gary Servin 0:04ac6be8229a 22 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 int offset = 0;
Gary Servin 0:04ac6be8229a 25 for( uint32_t i = 0; i < 4; i++){
Gary Servin 0:04ac6be8229a 26 union {
Gary Servin 0:04ac6be8229a 27 double real;
Gary Servin 0:04ac6be8229a 28 uint64_t base;
Gary Servin 0:04ac6be8229a 29 } u_coefi;
Gary Servin 0:04ac6be8229a 30 u_coefi.real = this->coef[i];
Gary Servin 0:04ac6be8229a 31 *(outbuffer + offset + 0) = (u_coefi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 32 *(outbuffer + offset + 1) = (u_coefi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 2) = (u_coefi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 3) = (u_coefi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 4) = (u_coefi.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 5) = (u_coefi.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 6) = (u_coefi.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 7) = (u_coefi.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 offset += sizeof(this->coef[i]);
Gary Servin 0:04ac6be8229a 40 }
Gary Servin 0:04ac6be8229a 41 return offset;
Gary Servin 0:04ac6be8229a 42 }
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 int offset = 0;
Gary Servin 0:04ac6be8229a 47 for( uint32_t i = 0; i < 4; i++){
Gary Servin 0:04ac6be8229a 48 union {
Gary Servin 0:04ac6be8229a 49 double real;
Gary Servin 0:04ac6be8229a 50 uint64_t base;
Gary Servin 0:04ac6be8229a 51 } u_coefi;
Gary Servin 0:04ac6be8229a 52 u_coefi.base = 0;
Gary Servin 0:04ac6be8229a 53 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 54 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 55 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 56 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 57 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 58 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 59 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 60 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 61 this->coef[i] = u_coefi.real;
Gary Servin 0:04ac6be8229a 62 offset += sizeof(this->coef[i]);
Gary Servin 0:04ac6be8229a 63 }
Gary Servin 0:04ac6be8229a 64 return offset;
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 const char * getType(){ return "shape_msgs/Plane"; };
Gary Servin 0:04ac6be8229a 68 const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 };
Gary Servin 0:04ac6be8229a 71
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 #endif