hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

std_msgs/Int64MultiArray.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_std_msgs_Int64MultiArray_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_std_msgs_Int64MultiArray_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/MultiArrayLayout.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace std_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Int64MultiArray : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::MultiArrayLayout _layout_type;
Gary Servin 0:04ac6be8229a 17 _layout_type layout;
Gary Servin 0:04ac6be8229a 18 uint32_t data_length;
Gary Servin 0:04ac6be8229a 19 typedef int64_t _data_type;
Gary Servin 0:04ac6be8229a 20 _data_type st_data;
Gary Servin 0:04ac6be8229a 21 _data_type * data;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 Int64MultiArray():
Gary Servin 0:04ac6be8229a 24 layout(),
Gary Servin 0:04ac6be8229a 25 data_length(0), data(NULL)
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 int offset = 0;
Gary Servin 0:04ac6be8229a 32 offset += this->layout.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 38 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 39 union {
Gary Servin 0:04ac6be8229a 40 int64_t real;
Gary Servin 0:04ac6be8229a 41 uint64_t base;
Gary Servin 0:04ac6be8229a 42 } u_datai;
Gary Servin 0:04ac6be8229a 43 u_datai.real = this->data[i];
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 53 }
Gary Servin 0:04ac6be8229a 54 return offset;
Gary Servin 0:04ac6be8229a 55 }
Gary Servin 0:04ac6be8229a 56
Gary Servin 0:04ac6be8229a 57 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 58 {
Gary Servin 0:04ac6be8229a 59 int offset = 0;
Gary Servin 0:04ac6be8229a 60 offset += this->layout.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 61 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 62 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 63 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 64 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 65 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 66 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 67 this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
Gary Servin 0:04ac6be8229a 68 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 69 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 70 union {
Gary Servin 0:04ac6be8229a 71 int64_t real;
Gary Servin 0:04ac6be8229a 72 uint64_t base;
Gary Servin 0:04ac6be8229a 73 } u_st_data;
Gary Servin 0:04ac6be8229a 74 u_st_data.base = 0;
Gary Servin 0:04ac6be8229a 75 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 76 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 77 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 78 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 79 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 80 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 81 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 82 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 83 this->st_data = u_st_data.real;
Gary Servin 0:04ac6be8229a 84 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 85 memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
Gary Servin 0:04ac6be8229a 86 }
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 "std_msgs/Int64MultiArray"; };
Gary Servin 0:04ac6be8229a 91 const char * getMD5(){ return "54865aa6c65be0448113a2afc6a49270"; };
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