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/SolidPrimitive.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_SolidPrimitive_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_shape_msgs_SolidPrimitive_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 SolidPrimitive : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef uint8_t _type_type;
Gary Servin 0:04ac6be8229a 16 _type_type type;
Gary Servin 0:04ac6be8229a 17 uint32_t dimensions_length;
Gary Servin 0:04ac6be8229a 18 typedef double _dimensions_type;
Gary Servin 0:04ac6be8229a 19 _dimensions_type st_dimensions;
Gary Servin 0:04ac6be8229a 20 _dimensions_type * dimensions;
Gary Servin 0:04ac6be8229a 21 enum { BOX = 1 };
Gary Servin 0:04ac6be8229a 22 enum { SPHERE = 2 };
Gary Servin 0:04ac6be8229a 23 enum { CYLINDER = 3 };
Gary Servin 0:04ac6be8229a 24 enum { CONE = 4 };
Gary Servin 0:04ac6be8229a 25 enum { BOX_X = 0 };
Gary Servin 0:04ac6be8229a 26 enum { BOX_Y = 1 };
Gary Servin 0:04ac6be8229a 27 enum { BOX_Z = 2 };
Gary Servin 0:04ac6be8229a 28 enum { SPHERE_RADIUS = 0 };
Gary Servin 0:04ac6be8229a 29 enum { CYLINDER_HEIGHT = 0 };
Gary Servin 0:04ac6be8229a 30 enum { CYLINDER_RADIUS = 1 };
Gary Servin 0:04ac6be8229a 31 enum { CONE_HEIGHT = 0 };
Gary Servin 0:04ac6be8229a 32 enum { CONE_RADIUS = 1 };
Gary Servin 0:04ac6be8229a 33
Gary Servin 0:04ac6be8229a 34 SolidPrimitive():
Gary Servin 0:04ac6be8229a 35 type(0),
Gary Servin 0:04ac6be8229a 36 dimensions_length(0), dimensions(NULL)
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 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 offset += sizeof(this->type);
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (this->dimensions_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 1) = (this->dimensions_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 2) = (this->dimensions_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 3) = (this->dimensions_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 offset += sizeof(this->dimensions_length);
Gary Servin 0:04ac6be8229a 50 for( uint32_t i = 0; i < dimensions_length; i++){
Gary Servin 0:04ac6be8229a 51 union {
Gary Servin 0:04ac6be8229a 52 double real;
Gary Servin 0:04ac6be8229a 53 uint64_t base;
Gary Servin 0:04ac6be8229a 54 } u_dimensionsi;
Gary Servin 0:04ac6be8229a 55 u_dimensionsi.real = this->dimensions[i];
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->dimensions[i]);
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66 return offset;
Gary Servin 0:04ac6be8229a 67 }
Gary Servin 0:04ac6be8229a 68
Gary Servin 0:04ac6be8229a 69 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 70 {
Gary Servin 0:04ac6be8229a 71 int offset = 0;
Gary Servin 0:04ac6be8229a 72 this->type = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->type);
Gary Servin 0:04ac6be8229a 74 uint32_t dimensions_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 75 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 76 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 77 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->dimensions_length);
Gary Servin 0:04ac6be8229a 79 if(dimensions_lengthT > dimensions_length)
Gary Servin 0:04ac6be8229a 80 this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
Gary Servin 0:04ac6be8229a 81 dimensions_length = dimensions_lengthT;
Gary Servin 0:04ac6be8229a 82 for( uint32_t i = 0; i < dimensions_length; i++){
Gary Servin 0:04ac6be8229a 83 union {
Gary Servin 0:04ac6be8229a 84 double real;
Gary Servin 0:04ac6be8229a 85 uint64_t base;
Gary Servin 0:04ac6be8229a 86 } u_st_dimensions;
Gary Servin 0:04ac6be8229a 87 u_st_dimensions.base = 0;
Gary Servin 0:04ac6be8229a 88 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 89 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 90 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 91 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 92 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 93 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 94 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 95 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 96 this->st_dimensions = u_st_dimensions.real;
Gary Servin 0:04ac6be8229a 97 offset += sizeof(this->st_dimensions);
Gary Servin 0:04ac6be8229a 98 memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100 return offset;
Gary Servin 0:04ac6be8229a 101 }
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 const char * getType(){ return "shape_msgs/SolidPrimitive"; };
Gary Servin 0:04ac6be8229a 104 const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
Gary Servin 0:04ac6be8229a 105
Gary Servin 0:04ac6be8229a 106 };
Gary Servin 0:04ac6be8229a 107
Gary Servin 0:04ac6be8229a 108 }
Gary Servin 0:04ac6be8229a 109 #endif