Diff: turtlesim/Spawn.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Spawn.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,171 @@
+#ifndef _ROS_SERVICE_Spawn_h
+#define _ROS_SERVICE_Spawn_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char SPAWN[] = "turtlesim/Spawn";
+
+  class SpawnRequest : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float theta;
+      const char* name;
+
+    SpawnRequest():
+      x(0),
+      y(0),
+      theta(0),
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
+
+  };
+
+  class SpawnResponse : public ros::Msg
+  {
+    public:
+      const char* name;
+
+    SpawnResponse():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class Spawn {
+    public:
+    typedef SpawnRequest Request;
+    typedef SpawnResponse Response;
+  };
+
+}
+#endif