root / quad2 / arduino / src / ros_lib / sensor_msgs / Range.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_sensor_msgs_Range_h
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2 | #define _ROS_sensor_msgs_Range_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | #include "std_msgs/Header.h" |
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9 | |||
10 | namespace sensor_msgs |
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11 | { |
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12 | |||
13 | class Range : public ros::Msg |
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14 | { |
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15 | public:
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16 | std_msgs::Header header; |
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17 | uint8_t radiation_type; |
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18 | float field_of_view;
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19 | float min_range;
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20 | float max_range;
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21 | float range;
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22 | enum { ULTRASOUND = 0 }; |
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23 | enum { INFRARED = 1 }; |
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24 | |||
25 | virtual int serialize(unsigned char *outbuffer) const |
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26 | { |
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27 | int offset = 0; |
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28 | offset += this->header.serialize(outbuffer + offset); |
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29 | *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF; |
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30 | offset += sizeof(this->radiation_type);
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31 | union {
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32 | float real;
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33 | uint32_t base; |
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34 | } u_field_of_view; |
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35 | u_field_of_view.real = this->field_of_view; |
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36 | *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF; |
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37 | *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF; |
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38 | *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF; |
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39 | *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF; |
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40 | offset += sizeof(this->field_of_view);
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41 | union {
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42 | float real;
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43 | uint32_t base; |
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44 | } u_min_range; |
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45 | u_min_range.real = this->min_range; |
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46 | *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF; |
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47 | *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF; |
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48 | *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF; |
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49 | *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF; |
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50 | offset += sizeof(this->min_range);
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51 | union {
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52 | float real;
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53 | uint32_t base; |
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54 | } u_max_range; |
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55 | u_max_range.real = this->max_range; |
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56 | *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF; |
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57 | *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF; |
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58 | *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF; |
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59 | *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF; |
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60 | offset += sizeof(this->max_range);
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61 | union {
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62 | float real;
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63 | uint32_t base; |
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64 | } u_range; |
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65 | u_range.real = this->range; |
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66 | *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF; |
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67 | *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF; |
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68 | *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF; |
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69 | *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF; |
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70 | offset += sizeof(this->range);
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71 | return offset;
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72 | } |
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73 | |||
74 | virtual int deserialize(unsigned char *inbuffer) |
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75 | { |
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76 | int offset = 0; |
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77 | offset += this->header.deserialize(inbuffer + offset); |
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78 | this->radiation_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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79 | offset += sizeof(this->radiation_type);
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80 | union {
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81 | float real;
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82 | uint32_t base; |
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83 | } u_field_of_view; |
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84 | u_field_of_view.base = 0;
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85 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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86 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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87 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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88 | u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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89 | this->field_of_view = u_field_of_view.real; |
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90 | offset += sizeof(this->field_of_view);
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91 | union {
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92 | float real;
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93 | uint32_t base; |
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94 | } u_min_range; |
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95 | u_min_range.base = 0;
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96 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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97 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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98 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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99 | u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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100 | this->min_range = u_min_range.real; |
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101 | offset += sizeof(this->min_range);
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102 | union {
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103 | float real;
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104 | uint32_t base; |
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105 | } u_max_range; |
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106 | u_max_range.base = 0;
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107 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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108 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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109 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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110 | u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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111 | this->max_range = u_max_range.real; |
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112 | offset += sizeof(this->max_range);
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113 | union {
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114 | float real;
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115 | uint32_t base; |
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116 | } u_range; |
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117 | u_range.base = 0;
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118 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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119 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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120 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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121 | u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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122 | this->range = u_range.real; |
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123 | offset += sizeof(this->range);
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124 | return offset;
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125 | } |
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126 | |||
127 | const char * getType(){ return "sensor_msgs/Range"; }; |
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128 | const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; }; |
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129 | |||
130 | }; |
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131 | |||
132 | } |
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133 | #endif |