YARP
Yet Another Robot Platform
LaserEcho.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 // This is an automatically generated file.
7 
8 // Generated from the following "sensor_msgs/LaserEcho" msg definition:
9 // # This message is a submessage of MultiEchoLaserScan and is not intended
10 // # to be used separately.
11 //
12 // float32[] echoes # Multiple values of ranges or intensities.
13 // # Each array represents data from the same angle increment.// Instances of this class can be read and written with YARP ports,
14 // using a ROS-compatible format.
15 
16 #ifndef YARP_ROSMSG_sensor_msgs_LaserEcho_h
17 #define YARP_ROSMSG_sensor_msgs_LaserEcho_h
18 
19 #include <yarp/os/Wire.h>
20 #include <yarp/os/Type.h>
22 #include <string>
23 #include <vector>
24 
25 namespace yarp {
26 namespace rosmsg {
27 namespace sensor_msgs {
28 
30 {
31 public:
32  std::vector<yarp::conf::float32_t> echoes;
33 
35  echoes()
36  {
37  }
38 
39  void clear()
40  {
41  // *** echoes ***
42  echoes.clear();
43  }
44 
45  bool readBare(yarp::os::ConnectionReader& connection) override
46  {
47  // *** echoes ***
48  int len = connection.expectInt32();
49  echoes.resize(len);
50  if (len > 0 && !connection.expectBlock((char*)&echoes[0], sizeof(yarp::conf::float32_t)*len)) {
51  return false;
52  }
53 
54  return !connection.isError();
55  }
56 
57  bool readBottle(yarp::os::ConnectionReader& connection) override
58  {
59  connection.convertTextMode();
60  yarp::os::idl::WireReader reader(connection);
61  if (!reader.readListHeader(1)) {
62  return false;
63  }
64 
65  // *** echoes ***
66  if (connection.expectInt32() != (BOTTLE_TAG_LIST|BOTTLE_TAG_FLOAT32)) {
67  return false;
68  }
69  int len = connection.expectInt32();
70  echoes.resize(len);
71  for (int i=0; i<len; i++) {
72  echoes[i] = (yarp::conf::float32_t)connection.expectFloat32();
73  }
74 
75  return !connection.isError();
76  }
77 
79  bool read(yarp::os::ConnectionReader& connection) override
80  {
81  return (connection.isBareMode() ? readBare(connection)
82  : readBottle(connection));
83  }
84 
85  bool writeBare(yarp::os::ConnectionWriter& connection) const override
86  {
87  // *** echoes ***
88  connection.appendInt32(echoes.size());
89  if (echoes.size()>0) {
90  connection.appendExternalBlock((char*)&echoes[0], sizeof(yarp::conf::float32_t)*echoes.size());
91  }
92 
93  return !connection.isError();
94  }
95 
96  bool writeBottle(yarp::os::ConnectionWriter& connection) const override
97  {
98  connection.appendInt32(BOTTLE_TAG_LIST);
99  connection.appendInt32(1);
100 
101  // *** echoes ***
103  connection.appendInt32(echoes.size());
104  for (size_t i=0; i<echoes.size(); i++) {
105  connection.appendFloat32(echoes[i]);
106  }
107 
108  connection.convertTextMode();
109  return !connection.isError();
110  }
111 
113  bool write(yarp::os::ConnectionWriter& connection) const override
114  {
115  return (connection.isBareMode() ? writeBare(connection)
116  : writeBottle(connection));
117  }
118 
119  // This class will serialize ROS style or YARP style depending on protocol.
120  // If you need to force a serialization style, use one of these classes:
123 
124  // The name for this message, ROS will need this
125  static constexpr const char* typeName = "sensor_msgs/LaserEcho";
126 
127  // The checksum for this message, ROS will need this
128  static constexpr const char* typeChecksum = "8bc5ae449b200fba4d552b4225586696";
129 
130  // The source text for this message, ROS will need this
131  static constexpr const char* typeText = "\
132 # This message is a submessage of MultiEchoLaserScan and is not intended\n\
133 # to be used separately.\n\
134 \n\
135 float32[] echoes # Multiple values of ranges or intensities.\n\
136  # Each array represents data from the same angle increment.\n\
137 ";
138 
139  yarp::os::Type getType() const override
140  {
142  typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
143  typ.addProperty("message_definition", yarp::os::Value(typeText));
144  return typ;
145  }
146 };
147 
148 } // namespace sensor_msgs
149 } // namespace rosmsg
150 } // namespace yarp
151 
152 #endif // YARP_ROSMSG_sensor_msgs_LaserEcho_h
#define BOTTLE_TAG_LIST
Definition: Bottle.h:28
#define BOTTLE_TAG_FLOAT32
Definition: Bottle.h:24
An interface for reading from a network connection.
virtual bool expectBlock(char *data, size_t len)=0
Read a block of data from the network connection.
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual std::int32_t expectInt32()=0
Read a 32-bit integer from the network connection.
virtual bool convertTextMode()=0
Reads in a standard description in text mode, and converts it to a standard description in binary.
virtual yarp::conf::float32_t expectFloat32()=0
Read a 32-bit floating point number from the network connection.
virtual bool isError() const =0
An interface for writing to a network connection.
virtual bool isError() const =0
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual void appendFloat32(yarp::conf::float32_t data)=0
Send a representation of a 32-bit floating point number to the network connection.
virtual void appendExternalBlock(const char *data, size_t len)=0
Send a block of data to the network connection, without making a copy.
virtual bool convertTextMode()=0
Converts a standard description in binary into a textual description, if the connection is in text-mo...
virtual void appendInt32(std::int32_t data)=0
Send a representation of a 32-bit integer to the network connection.
static Type byName(const char *name)
Definition: Type.cpp:171
Type & addProperty(const char *key, const Value &val)
Definition: Type.cpp:134
A single value (typically within a Bottle).
Definition: Value.h:45
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
Definition: WirePortable.h:23
virtual bool read(yarp::os::idl::WireReader &reader)
virtual bool write(const yarp::os::idl::WireWriter &writer) const
IDL-friendly connection reader.
Definition: WireReader.h:30
bool readBare(yarp::os::ConnectionReader &connection) override
Definition: LaserEcho.h:45
std::vector< yarp::conf::float32_t > echoes
Definition: LaserEcho.h:32
yarp::os::Type getType() const override
Definition: LaserEcho.h:139
yarp::os::idl::BareStyle< yarp::rosmsg::sensor_msgs::LaserEcho > rosStyle
Definition: LaserEcho.h:121
bool readBottle(yarp::os::ConnectionReader &connection) override
Definition: LaserEcho.h:57
static constexpr const char * typeChecksum
Definition: LaserEcho.h:128
static constexpr const char * typeText
Definition: LaserEcho.h:131
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: LaserEcho.h:113
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: LaserEcho.h:79
yarp::os::idl::BottleStyle< yarp::rosmsg::sensor_msgs::LaserEcho > bottleStyle
Definition: LaserEcho.h:122
bool writeBottle(yarp::os::ConnectionWriter &connection) const override
Definition: LaserEcho.h:96
bool writeBare(yarp::os::ConnectionWriter &connection) const override
Definition: LaserEcho.h:85
static constexpr const char * typeName
Definition: LaserEcho.h:125
float float32_t
Definition: numeric.h:76
The main, catch-all namespace for YARP.
Definition: dirs.h:16