hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

visualization_msgs/InteractiveMarkerInit.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_visualization_msgs_InteractiveMarkerInit_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_visualization_msgs_InteractiveMarkerInit_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 "visualization_msgs/InteractiveMarker.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace visualization_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class InteractiveMarkerInit : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _server_id_type;
Gary Servin 0:04ac6be8229a 17 _server_id_type server_id;
Gary Servin 0:04ac6be8229a 18 typedef uint64_t _seq_num_type;
Gary Servin 0:04ac6be8229a 19 _seq_num_type seq_num;
Gary Servin 0:04ac6be8229a 20 uint32_t markers_length;
Gary Servin 0:04ac6be8229a 21 typedef visualization_msgs::InteractiveMarker _markers_type;
Gary Servin 0:04ac6be8229a 22 _markers_type st_markers;
Gary Servin 0:04ac6be8229a 23 _markers_type * markers;
Gary Servin 0:04ac6be8229a 24
Gary Servin 0:04ac6be8229a 25 InteractiveMarkerInit():
Gary Servin 0:04ac6be8229a 26 server_id(""),
Gary Servin 0:04ac6be8229a 27 seq_num(0),
Gary Servin 0:04ac6be8229a 28 markers_length(0), markers(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 uint32_t length_server_id = strlen(this->server_id);
Gary Servin 0:04ac6be8229a 36 varToArr(outbuffer + offset, length_server_id);
Gary Servin 0:04ac6be8229a 37 offset += 4;
Gary Servin 0:04ac6be8229a 38 memcpy(outbuffer + offset, this->server_id, length_server_id);
Gary Servin 0:04ac6be8229a 39 offset += length_server_id;
Gary Servin 0:04ac6be8229a 40 union {
Gary Servin 0:04ac6be8229a 41 uint64_t real;
Gary Servin 0:04ac6be8229a 42 uint32_t base;
Gary Servin 0:04ac6be8229a 43 } u_seq_num;
Gary Servin 0:04ac6be8229a 44 u_seq_num.real = this->seq_num;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 offset += sizeof(this->seq_num);
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 offset += sizeof(this->markers_length);
Gary Servin 0:04ac6be8229a 55 for( uint32_t i = 0; i < markers_length; i++){
Gary Servin 0:04ac6be8229a 56 offset += this->markers[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 57 }
Gary Servin 0:04ac6be8229a 58 return offset;
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 62 {
Gary Servin 0:04ac6be8229a 63 int offset = 0;
Gary Servin 0:04ac6be8229a 64 uint32_t length_server_id;
Gary Servin 0:04ac6be8229a 65 arrToVar(length_server_id, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 66 offset += 4;
Gary Servin 0:04ac6be8229a 67 for(unsigned int k= offset; k< offset+length_server_id; ++k){
Gary Servin 0:04ac6be8229a 68 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70 inbuffer[offset+length_server_id-1]=0;
Gary Servin 0:04ac6be8229a 71 this->server_id = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 72 offset += length_server_id;
Gary Servin 0:04ac6be8229a 73 union {
Gary Servin 0:04ac6be8229a 74 uint64_t real;
Gary Servin 0:04ac6be8229a 75 uint32_t base;
Gary Servin 0:04ac6be8229a 76 } u_seq_num;
Gary Servin 0:04ac6be8229a 77 u_seq_num.base = 0;
Gary Servin 0:04ac6be8229a 78 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 79 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 80 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 81 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 82 this->seq_num = u_seq_num.real;
Gary Servin 0:04ac6be8229a 83 offset += sizeof(this->seq_num);
Gary Servin 0:04ac6be8229a 84 uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 85 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 86 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 87 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 88 offset += sizeof(this->markers_length);
Gary Servin 0:04ac6be8229a 89 if(markers_lengthT > markers_length)
Gary Servin 0:04ac6be8229a 90 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
Gary Servin 0:04ac6be8229a 91 markers_length = markers_lengthT;
Gary Servin 0:04ac6be8229a 92 for( uint32_t i = 0; i < markers_length; i++){
Gary Servin 0:04ac6be8229a 93 offset += this->st_markers.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 94 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
Gary Servin 0:04ac6be8229a 95 }
Gary Servin 0:04ac6be8229a 96 return offset;
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 const char * getType(){ return "visualization_msgs/InteractiveMarkerInit"; };
Gary Servin 0:04ac6be8229a 100 const char * getMD5(){ return "d5f2c5045a72456d228676ab91048734"; };
Gary Servin 0:04ac6be8229a 101
Gary Servin 0:04ac6be8229a 102 };
Gary Servin 0:04ac6be8229a 103
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105 #endif