Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/rosserial_arduino/Test.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_Test_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_Test_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7
scarter1 0:020db18a476d 8 namespace rosserial_arduino
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char TEST[] = "rosserial_arduino/Test";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class TestRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef const char* _input_type;
scarter1 0:020db18a476d 17 _input_type input;
scarter1 0:020db18a476d 18
scarter1 0:020db18a476d 19 TestRequest():
scarter1 0:020db18a476d 20 input("")
scarter1 0:020db18a476d 21 {
scarter1 0:020db18a476d 22 }
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 25 {
scarter1 0:020db18a476d 26 int offset = 0;
scarter1 0:020db18a476d 27 uint32_t length_input = strlen(this->input);
scarter1 0:020db18a476d 28 varToArr(outbuffer + offset, length_input);
scarter1 0:020db18a476d 29 offset += 4;
scarter1 0:020db18a476d 30 memcpy(outbuffer + offset, this->input, length_input);
scarter1 0:020db18a476d 31 offset += length_input;
scarter1 0:020db18a476d 32 return offset;
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 int offset = 0;
scarter1 0:020db18a476d 38 uint32_t length_input;
scarter1 0:020db18a476d 39 arrToVar(length_input, (inbuffer + offset));
scarter1 0:020db18a476d 40 offset += 4;
scarter1 0:020db18a476d 41 for(unsigned int k= offset; k< offset+length_input; ++k){
scarter1 0:020db18a476d 42 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 43 }
scarter1 0:020db18a476d 44 inbuffer[offset+length_input-1]=0;
scarter1 0:020db18a476d 45 this->input = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 46 offset += length_input;
scarter1 0:020db18a476d 47 return offset;
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 const char * getType(){ return TEST; };
scarter1 0:020db18a476d 51 const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 };
scarter1 0:020db18a476d 54
scarter1 0:020db18a476d 55 class TestResponse : public ros::Msg
scarter1 0:020db18a476d 56 {
scarter1 0:020db18a476d 57 public:
scarter1 0:020db18a476d 58 typedef const char* _output_type;
scarter1 0:020db18a476d 59 _output_type output;
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 TestResponse():
scarter1 0:020db18a476d 62 output("")
scarter1 0:020db18a476d 63 {
scarter1 0:020db18a476d 64 }
scarter1 0:020db18a476d 65
scarter1 0:020db18a476d 66 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 int offset = 0;
scarter1 0:020db18a476d 69 uint32_t length_output = strlen(this->output);
scarter1 0:020db18a476d 70 varToArr(outbuffer + offset, length_output);
scarter1 0:020db18a476d 71 offset += 4;
scarter1 0:020db18a476d 72 memcpy(outbuffer + offset, this->output, length_output);
scarter1 0:020db18a476d 73 offset += length_output;
scarter1 0:020db18a476d 74 return offset;
scarter1 0:020db18a476d 75 }
scarter1 0:020db18a476d 76
scarter1 0:020db18a476d 77 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 78 {
scarter1 0:020db18a476d 79 int offset = 0;
scarter1 0:020db18a476d 80 uint32_t length_output;
scarter1 0:020db18a476d 81 arrToVar(length_output, (inbuffer + offset));
scarter1 0:020db18a476d 82 offset += 4;
scarter1 0:020db18a476d 83 for(unsigned int k= offset; k< offset+length_output; ++k){
scarter1 0:020db18a476d 84 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 85 }
scarter1 0:020db18a476d 86 inbuffer[offset+length_output-1]=0;
scarter1 0:020db18a476d 87 this->output = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 88 offset += length_output;
scarter1 0:020db18a476d 89 return offset;
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91
scarter1 0:020db18a476d 92 const char * getType(){ return TEST; };
scarter1 0:020db18a476d 93 const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
scarter1 0:020db18a476d 94
scarter1 0:020db18a476d 95 };
scarter1 0:020db18a476d 96
scarter1 0:020db18a476d 97 class Test {
scarter1 0:020db18a476d 98 public:
scarter1 0:020db18a476d 99 typedef TestRequest Request;
scarter1 0:020db18a476d 100 typedef TestResponse Response;
scarter1 0:020db18a476d 101 };
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 }
scarter1 0:020db18a476d 104 #endif