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/MultiArrayLayout.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_MultiArrayLayout_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_std_msgs_MultiArrayLayout_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/MultiArrayDimension.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 MultiArrayLayout : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 uint32_t dim_length;
Gary Servin 0:04ac6be8229a 17 typedef std_msgs::MultiArrayDimension _dim_type;
Gary Servin 0:04ac6be8229a 18 _dim_type st_dim;
Gary Servin 0:04ac6be8229a 19 _dim_type * dim;
Gary Servin 0:04ac6be8229a 20 typedef uint32_t _data_offset_type;
Gary Servin 0:04ac6be8229a 21 _data_offset_type data_offset;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 MultiArrayLayout():
Gary Servin 0:04ac6be8229a 24 dim_length(0), dim(NULL),
Gary Servin 0:04ac6be8229a 25 data_offset(0)
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 *(outbuffer + offset + 0) = (this->dim_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 1) = (this->dim_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 2) = (this->dim_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 3) = (this->dim_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 offset += sizeof(this->dim_length);
Gary Servin 0:04ac6be8229a 37 for( uint32_t i = 0; i < dim_length; i++){
Gary Servin 0:04ac6be8229a 38 offset += this->dim[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 39 }
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 offset += sizeof(this->data_offset);
Gary Servin 0:04ac6be8229a 45 return offset;
Gary Servin 0:04ac6be8229a 46 }
Gary Servin 0:04ac6be8229a 47
Gary Servin 0:04ac6be8229a 48 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 int offset = 0;
Gary Servin 0:04ac6be8229a 51 uint32_t dim_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 52 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 53 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 54 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->dim_length);
Gary Servin 0:04ac6be8229a 56 if(dim_lengthT > dim_length)
Gary Servin 0:04ac6be8229a 57 this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
Gary Servin 0:04ac6be8229a 58 dim_length = dim_lengthT;
Gary Servin 0:04ac6be8229a 59 for( uint32_t i = 0; i < dim_length; i++){
Gary Servin 0:04ac6be8229a 60 offset += this->st_dim.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 61 memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63 this->data_offset = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 64 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 65 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 66 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->data_offset);
Gary Servin 0:04ac6be8229a 68 return offset;
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 const char * getType(){ return "std_msgs/MultiArrayLayout"; };
Gary Servin 0:04ac6be8229a 72 const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
Gary Servin 0:04ac6be8229a 73
Gary Servin 0:04ac6be8229a 74 };
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 }
Gary Servin 0:04ac6be8229a 77 #endif