LaserEcho.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
// This is an automatically generated file.
 
// Generated from the following "sensor_msgs/LaserEcho" msg definition:
//   # This message is a submessage of MultiEchoLaserScan and is not intended
//   # to be used separately.
//   
//   float32[] echoes  # Multiple values of ranges or intensities.
//                     # Each array represents data from the same angle increment.// Instances of this class can be read and written with YARP ports,
// using a ROS-compatible format.
 
#ifndef YARP_ROSMSG_sensor_msgs_LaserEcho_h
#define YARP_ROSMSG_sensor_msgs_LaserEcho_h
 
#include <yarp/os/Wire.h>
#include <yarp/os/Type.h>
#include <yarp/os/idl/WireTypes.h>
#include <string>
#include <vector>
 
namespace yarp {
namespace rosmsg {
namespace sensor_msgs {
 
class LaserEcho : public yarp::os::idl::WirePortable
{
public:
    std::vector<yarp::conf::float32_t> echoes;
 
    LaserEcho() :
            echoes()
    {
    }
 
    void clear()
    {
        // *** echoes ***
        echoes.clear();
    }
 
    bool readBare(yarp::os::ConnectionReader& connection) override
    {
        // *** echoes ***
        int len = connection.expectInt32();
        echoes.resize(len);
        if (len > 0 && !connection.expectBlock((char*)&echoes[0], sizeof(yarp::conf::float32_t)*len)) {
            return false;
        }
 
        return !connection.isError();
    }
 
    bool readBottle(yarp::os::ConnectionReader& connection) override
    {
        connection.convertTextMode();
        yarp::os::idl::WireReader reader(connection);
        if (!reader.readListHeader(1)) {
            return false;
        }
 
        // *** echoes ***
        if (connection.expectInt32() != (BOTTLE_TAG_LIST|BOTTLE_TAG_FLOAT32)) {
            return false;
        }
        int len = connection.expectInt32();
        echoes.resize(len);
        for (int i=0; i<len; i++) {
            echoes[i] = (yarp::conf::float32_t)connection.expectFloat32();
        }
 
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::read;
    bool read(yarp::os::ConnectionReader& connection) override
    {
        return (connection.isBareMode() ? readBare(connection)
                                        : readBottle(connection));
    }
 
    bool writeBare(yarp::os::ConnectionWriter& connection) const override
    {
        // *** echoes ***
        connection.appendInt32(echoes.size());
        if (echoes.size()>0) {
            connection.appendExternalBlock((char*)&echoes[0], sizeof(yarp::conf::float32_t)*echoes.size());
        }
 
        return !connection.isError();
    }
 
    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
    {
        connection.appendInt32(BOTTLE_TAG_LIST);
        connection.appendInt32(1);
 
        // *** echoes ***
        connection.appendInt32(BOTTLE_TAG_LIST|BOTTLE_TAG_FLOAT32);
        connection.appendInt32(echoes.size());
        for (size_t i=0; i<echoes.size(); i++) {
            connection.appendFloat32(echoes[i]);
        }
 
        connection.convertTextMode();
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::write;
    bool write(yarp::os::ConnectionWriter& connection) const override
    {
        return (connection.isBareMode() ? writeBare(connection)
                                        : writeBottle(connection));
    }
 
    // This class will serialize ROS style or YARP style depending on protocol.
    // If you need to force a serialization style, use one of these classes:
    typedef yarp::os::idl::BareStyle<yarp::rosmsg::sensor_msgs::LaserEcho> rosStyle;
    typedef yarp::os::idl::BottleStyle<yarp::rosmsg::sensor_msgs::LaserEcho> bottleStyle;
 
    // The name for this message, ROS will need this
    static constexpr const char* typeName = "sensor_msgs/LaserEcho";
 
    // The checksum for this message, ROS will need this
    static constexpr const char* typeChecksum = "8bc5ae449b200fba4d552b4225586696";
 
    // The source text for this message, ROS will need this
    static constexpr const char* typeText = "\
# This message is a submessage of MultiEchoLaserScan and is not intended\n\
# to be used separately.\n\
\n\
float32[] echoes  # Multiple values of ranges or intensities.\n\
                  # Each array represents data from the same angle increment.\n\
";
 
    yarp::os::Type getType() const override
    {
        yarp::os::Type typ = yarp::os::Type::byName(typeName, typeName);
        typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
        typ.addProperty("message_definition", yarp::os::Value(typeText));
        return typ;
    }
};
 
} // namespace sensor_msgs
} // namespace rosmsg
} // namespace yarp
 
#endif // YARP_ROSMSG_sensor_msgs_LaserEcho_h