From a5bd5ad76e27a11a9fc259d137fb663ee28ce683 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Wed, 31 Aug 2022 20:40:51 +0200
Subject: [PATCH] Adding json coding of PointCloud2.
---
package.xml | 1 +
src/codegen_json_bson/__init__.py | 14 +++++++++++++-
2 files changed, 14 insertions(+), 1 deletion(-)
diff --git a/package.xml b/package.xml
index af9c9f0..9c174ca 100644
--- a/package.xml
+++ b/package.xml
@@ -44,6 +44,7 @@
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<depend>gazebo_msgs</depend>
+ <depend>sensor_msgs</depend>
<depend>lrs_msgs_common</depend>
<depend>lrs_srvs_wdb</depend>
<depend>tf</depend>
diff --git a/src/codegen_json_bson/__init__.py b/src/codegen_json_bson/__init__.py
index 0ede9fb..05f2741 100644
--- a/src/codegen_json_bson/__init__.py
+++ b/src/codegen_json_bson/__init__.py
@@ -427,7 +427,7 @@ def type_is_complex(ty):
"FIPAAclMessage", "PathElementTree", "TSTExecStatus", "TSTExecInfo",
"BoundingBoxCVL", "ImageSize", "CVLImage", "DiagnosticStatus", "MultiArrayDimension",
"Point32", "KeyValue", "TransformStamped", "ChannelFloat32", "PointField", "Marker",
- "LandingDetection", "CompressedImage",
+ "LandingDetection", "CompressedImage", "PointCloud2",
"TargetPrediction", "DepotBookingInfo", "SalientPoint", "LrsVisionDetection",
"DelLogItem", "StringList", "Team", "VisionDetection", "SearchUnit", "SearchCell",
"PathElement", "ResourceInfo", "Interval", "NavigationData", "GeopointHeadingSpeed",
@@ -450,6 +450,8 @@ def field_assignment_get_json_value(field, ty, fieldtype, name):
if ty == "bytes":
res = ""
res += f'// {ty} {field} {fieldtype} {name}\n'
+ if name == "PointCloud2":
+ res += f' res["{field}"] = macaron::Base64::Encode(msg.{field});\n'
if name == "CompressedImage":
res += f' res["{field}"] = macaron::Base64::Encode(msg.{field});\n'
if name == "CVLImage":
@@ -507,6 +509,16 @@ def field_assignment_parse_json_value(field, ty, fieldtype, name):
res += " for (unsigned int i=0; i<out.size(); i++) {\n"
res += f' msg.{field}.push_back(out[i]);\n'
res += " }"
+ if name == "PointCloud2":
+ res += " std::string out;\n"
+ res += f' std::string res = macaron::Base64::Decode(m["{field}"].asString(), out);\n'
+ res += " if (res != \"\") {\n"
+ res += " ROS_ERROR(\"FAILED TO DECODE CVL IMAGE Base64 Data: %s\", res.c_str());\n"
+ res += " return false;\n"
+ res += " }\n"
+ res += " for (unsigned int i=0; i<out.size(); i++) {\n"
+ res += f' msg.{field}.push_back(out[i]);\n'
+ res += " }"
return res
listprefix = ""
gen_for_list = True
--
GitLab