Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/bond/Status.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_bond_Status_h
scarter1 0:020db18a476d 2 #define _ROS_bond_Status_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace bond
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class Status : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 17 _header_type header;
scarter1 0:020db18a476d 18 typedef const char* _id_type;
scarter1 0:020db18a476d 19 _id_type id;
scarter1 0:020db18a476d 20 typedef const char* _instance_id_type;
scarter1 0:020db18a476d 21 _instance_id_type instance_id;
scarter1 0:020db18a476d 22 typedef bool _active_type;
scarter1 0:020db18a476d 23 _active_type active;
scarter1 0:020db18a476d 24 typedef float _heartbeat_timeout_type;
scarter1 0:020db18a476d 25 _heartbeat_timeout_type heartbeat_timeout;
scarter1 0:020db18a476d 26 typedef float _heartbeat_period_type;
scarter1 0:020db18a476d 27 _heartbeat_period_type heartbeat_period;
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 Status():
scarter1 0:020db18a476d 30 header(),
scarter1 0:020db18a476d 31 id(""),
scarter1 0:020db18a476d 32 instance_id(""),
scarter1 0:020db18a476d 33 active(0),
scarter1 0:020db18a476d 34 heartbeat_timeout(0),
scarter1 0:020db18a476d 35 heartbeat_period(0)
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 }
scarter1 0:020db18a476d 38
scarter1 0:020db18a476d 39 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 40 {
scarter1 0:020db18a476d 41 int offset = 0;
scarter1 0:020db18a476d 42 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 43 uint32_t length_id = strlen(this->id);
scarter1 0:020db18a476d 44 varToArr(outbuffer + offset, length_id);
scarter1 0:020db18a476d 45 offset += 4;
scarter1 0:020db18a476d 46 memcpy(outbuffer + offset, this->id, length_id);
scarter1 0:020db18a476d 47 offset += length_id;
scarter1 0:020db18a476d 48 uint32_t length_instance_id = strlen(this->instance_id);
scarter1 0:020db18a476d 49 varToArr(outbuffer + offset, length_instance_id);
scarter1 0:020db18a476d 50 offset += 4;
scarter1 0:020db18a476d 51 memcpy(outbuffer + offset, this->instance_id, length_instance_id);
scarter1 0:020db18a476d 52 offset += length_instance_id;
scarter1 0:020db18a476d 53 union {
scarter1 0:020db18a476d 54 bool real;
scarter1 0:020db18a476d 55 uint8_t base;
scarter1 0:020db18a476d 56 } u_active;
scarter1 0:020db18a476d 57 u_active.real = this->active;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 59 offset += sizeof(this->active);
scarter1 0:020db18a476d 60 union {
scarter1 0:020db18a476d 61 float real;
scarter1 0:020db18a476d 62 uint32_t base;
scarter1 0:020db18a476d 63 } u_heartbeat_timeout;
scarter1 0:020db18a476d 64 u_heartbeat_timeout.real = this->heartbeat_timeout;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 67 *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 68 *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 69 offset += sizeof(this->heartbeat_timeout);
scarter1 0:020db18a476d 70 union {
scarter1 0:020db18a476d 71 float real;
scarter1 0:020db18a476d 72 uint32_t base;
scarter1 0:020db18a476d 73 } u_heartbeat_period;
scarter1 0:020db18a476d 74 u_heartbeat_period.real = this->heartbeat_period;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 78 *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 79 offset += sizeof(this->heartbeat_period);
scarter1 0:020db18a476d 80 return offset;
scarter1 0:020db18a476d 81 }
scarter1 0:020db18a476d 82
scarter1 0:020db18a476d 83 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 84 {
scarter1 0:020db18a476d 85 int offset = 0;
scarter1 0:020db18a476d 86 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 87 uint32_t length_id;
scarter1 0:020db18a476d 88 arrToVar(length_id, (inbuffer + offset));
scarter1 0:020db18a476d 89 offset += 4;
scarter1 0:020db18a476d 90 for(unsigned int k= offset; k< offset+length_id; ++k){
scarter1 0:020db18a476d 91 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 92 }
scarter1 0:020db18a476d 93 inbuffer[offset+length_id-1]=0;
scarter1 0:020db18a476d 94 this->id = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 95 offset += length_id;
scarter1 0:020db18a476d 96 uint32_t length_instance_id;
scarter1 0:020db18a476d 97 arrToVar(length_instance_id, (inbuffer + offset));
scarter1 0:020db18a476d 98 offset += 4;
scarter1 0:020db18a476d 99 for(unsigned int k= offset; k< offset+length_instance_id; ++k){
scarter1 0:020db18a476d 100 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 101 }
scarter1 0:020db18a476d 102 inbuffer[offset+length_instance_id-1]=0;
scarter1 0:020db18a476d 103 this->instance_id = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 104 offset += length_instance_id;
scarter1 0:020db18a476d 105 union {
scarter1 0:020db18a476d 106 bool real;
scarter1 0:020db18a476d 107 uint8_t base;
scarter1 0:020db18a476d 108 } u_active;
scarter1 0:020db18a476d 109 u_active.base = 0;
scarter1 0:020db18a476d 110 u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 111 this->active = u_active.real;
scarter1 0:020db18a476d 112 offset += sizeof(this->active);
scarter1 0:020db18a476d 113 union {
scarter1 0:020db18a476d 114 float real;
scarter1 0:020db18a476d 115 uint32_t base;
scarter1 0:020db18a476d 116 } u_heartbeat_timeout;
scarter1 0:020db18a476d 117 u_heartbeat_timeout.base = 0;
scarter1 0:020db18a476d 118 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 119 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 120 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 121 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 122 this->heartbeat_timeout = u_heartbeat_timeout.real;
scarter1 0:020db18a476d 123 offset += sizeof(this->heartbeat_timeout);
scarter1 0:020db18a476d 124 union {
scarter1 0:020db18a476d 125 float real;
scarter1 0:020db18a476d 126 uint32_t base;
scarter1 0:020db18a476d 127 } u_heartbeat_period;
scarter1 0:020db18a476d 128 u_heartbeat_period.base = 0;
scarter1 0:020db18a476d 129 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 130 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 131 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 132 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 133 this->heartbeat_period = u_heartbeat_period.real;
scarter1 0:020db18a476d 134 offset += sizeof(this->heartbeat_period);
scarter1 0:020db18a476d 135 return offset;
scarter1 0:020db18a476d 136 }
scarter1 0:020db18a476d 137
scarter1 0:020db18a476d 138 const char * getType(){ return "bond/Status"; };
scarter1 0:020db18a476d 139 const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
scarter1 0:020db18a476d 140
scarter1 0:020db18a476d 141 };
scarter1 0:020db18a476d 142
scarter1 0:020db18a476d 143 }
scarter1 0:020db18a476d 144 #endif