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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/rosserial_msgs/RequestParam.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_SERVICE_RequestParam_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_RequestParam_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_msgs
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class RequestParamRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef const char* _name_type;
scarter1 0:020db18a476d 17 _name_type name;
scarter1 0:020db18a476d 18
scarter1 0:020db18a476d 19 RequestParamRequest():
scarter1 0:020db18a476d 20 name("")
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_name = strlen(this->name);
scarter1 0:020db18a476d 28 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 29 offset += 4;
scarter1 0:020db18a476d 30 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 31 offset += length_name;
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_name;
scarter1 0:020db18a476d 39 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 40 offset += 4;
scarter1 0:020db18a476d 41 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 42 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 43 }
scarter1 0:020db18a476d 44 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 45 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 46 offset += length_name;
scarter1 0:020db18a476d 47 return offset;
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 const char * getType(){ return REQUESTPARAM; };
scarter1 0:020db18a476d 51 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 };
scarter1 0:020db18a476d 54
scarter1 0:020db18a476d 55 class RequestParamResponse : public ros::Msg
scarter1 0:020db18a476d 56 {
scarter1 0:020db18a476d 57 public:
scarter1 0:020db18a476d 58 uint32_t ints_length;
scarter1 0:020db18a476d 59 typedef int32_t _ints_type;
scarter1 0:020db18a476d 60 _ints_type st_ints;
scarter1 0:020db18a476d 61 _ints_type * ints;
scarter1 0:020db18a476d 62 uint32_t floats_length;
scarter1 0:020db18a476d 63 typedef float _floats_type;
scarter1 0:020db18a476d 64 _floats_type st_floats;
scarter1 0:020db18a476d 65 _floats_type * floats;
scarter1 0:020db18a476d 66 uint32_t strings_length;
scarter1 0:020db18a476d 67 typedef char* _strings_type;
scarter1 0:020db18a476d 68 _strings_type st_strings;
scarter1 0:020db18a476d 69 _strings_type * strings;
scarter1 0:020db18a476d 70
scarter1 0:020db18a476d 71 RequestParamResponse():
scarter1 0:020db18a476d 72 ints_length(0), ints(NULL),
scarter1 0:020db18a476d 73 floats_length(0), floats(NULL),
scarter1 0:020db18a476d 74 strings_length(0), strings(NULL)
scarter1 0:020db18a476d 75 {
scarter1 0:020db18a476d 76 }
scarter1 0:020db18a476d 77
scarter1 0:020db18a476d 78 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 79 {
scarter1 0:020db18a476d 80 int offset = 0;
scarter1 0:020db18a476d 81 *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 82 *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 83 *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 84 *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 85 offset += sizeof(this->ints_length);
scarter1 0:020db18a476d 86 for( uint32_t i = 0; i < ints_length; i++){
scarter1 0:020db18a476d 87 union {
scarter1 0:020db18a476d 88 int32_t real;
scarter1 0:020db18a476d 89 uint32_t base;
scarter1 0:020db18a476d 90 } u_intsi;
scarter1 0:020db18a476d 91 u_intsi.real = this->ints[i];
scarter1 0:020db18a476d 92 *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 93 *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 94 *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 95 *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 96 offset += sizeof(this->ints[i]);
scarter1 0:020db18a476d 97 }
scarter1 0:020db18a476d 98 *(outbuffer + offset + 0) = (this->floats_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 99 *(outbuffer + offset + 1) = (this->floats_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 100 *(outbuffer + offset + 2) = (this->floats_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 101 *(outbuffer + offset + 3) = (this->floats_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 102 offset += sizeof(this->floats_length);
scarter1 0:020db18a476d 103 for( uint32_t i = 0; i < floats_length; i++){
scarter1 0:020db18a476d 104 union {
scarter1 0:020db18a476d 105 float real;
scarter1 0:020db18a476d 106 uint32_t base;
scarter1 0:020db18a476d 107 } u_floatsi;
scarter1 0:020db18a476d 108 u_floatsi.real = this->floats[i];
scarter1 0:020db18a476d 109 *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 110 *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 111 *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 112 *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 113 offset += sizeof(this->floats[i]);
scarter1 0:020db18a476d 114 }
scarter1 0:020db18a476d 115 *(outbuffer + offset + 0) = (this->strings_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 116 *(outbuffer + offset + 1) = (this->strings_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 117 *(outbuffer + offset + 2) = (this->strings_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 118 *(outbuffer + offset + 3) = (this->strings_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 119 offset += sizeof(this->strings_length);
scarter1 0:020db18a476d 120 for( uint32_t i = 0; i < strings_length; i++){
scarter1 0:020db18a476d 121 uint32_t length_stringsi = strlen(this->strings[i]);
scarter1 0:020db18a476d 122 varToArr(outbuffer + offset, length_stringsi);
scarter1 0:020db18a476d 123 offset += 4;
scarter1 0:020db18a476d 124 memcpy(outbuffer + offset, this->strings[i], length_stringsi);
scarter1 0:020db18a476d 125 offset += length_stringsi;
scarter1 0:020db18a476d 126 }
scarter1 0:020db18a476d 127 return offset;
scarter1 0:020db18a476d 128 }
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 131 {
scarter1 0:020db18a476d 132 int offset = 0;
scarter1 0:020db18a476d 133 uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 134 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 135 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 136 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 137 offset += sizeof(this->ints_length);
scarter1 0:020db18a476d 138 if(ints_lengthT > ints_length)
scarter1 0:020db18a476d 139 this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
scarter1 0:020db18a476d 140 ints_length = ints_lengthT;
scarter1 0:020db18a476d 141 for( uint32_t i = 0; i < ints_length; i++){
scarter1 0:020db18a476d 142 union {
scarter1 0:020db18a476d 143 int32_t real;
scarter1 0:020db18a476d 144 uint32_t base;
scarter1 0:020db18a476d 145 } u_st_ints;
scarter1 0:020db18a476d 146 u_st_ints.base = 0;
scarter1 0:020db18a476d 147 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 148 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 149 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 150 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 151 this->st_ints = u_st_ints.real;
scarter1 0:020db18a476d 152 offset += sizeof(this->st_ints);
scarter1 0:020db18a476d 153 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
scarter1 0:020db18a476d 154 }
scarter1 0:020db18a476d 155 uint32_t floats_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 156 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 157 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 158 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 159 offset += sizeof(this->floats_length);
scarter1 0:020db18a476d 160 if(floats_lengthT > floats_length)
scarter1 0:020db18a476d 161 this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
scarter1 0:020db18a476d 162 floats_length = floats_lengthT;
scarter1 0:020db18a476d 163 for( uint32_t i = 0; i < floats_length; i++){
scarter1 0:020db18a476d 164 union {
scarter1 0:020db18a476d 165 float real;
scarter1 0:020db18a476d 166 uint32_t base;
scarter1 0:020db18a476d 167 } u_st_floats;
scarter1 0:020db18a476d 168 u_st_floats.base = 0;
scarter1 0:020db18a476d 169 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 170 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 171 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 172 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 173 this->st_floats = u_st_floats.real;
scarter1 0:020db18a476d 174 offset += sizeof(this->st_floats);
scarter1 0:020db18a476d 175 memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
scarter1 0:020db18a476d 176 }
scarter1 0:020db18a476d 177 uint32_t strings_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 178 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 179 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 180 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 181 offset += sizeof(this->strings_length);
scarter1 0:020db18a476d 182 if(strings_lengthT > strings_length)
scarter1 0:020db18a476d 183 this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
scarter1 0:020db18a476d 184 strings_length = strings_lengthT;
scarter1 0:020db18a476d 185 for( uint32_t i = 0; i < strings_length; i++){
scarter1 0:020db18a476d 186 uint32_t length_st_strings;
scarter1 0:020db18a476d 187 arrToVar(length_st_strings, (inbuffer + offset));
scarter1 0:020db18a476d 188 offset += 4;
scarter1 0:020db18a476d 189 for(unsigned int k= offset; k< offset+length_st_strings; ++k){
scarter1 0:020db18a476d 190 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 191 }
scarter1 0:020db18a476d 192 inbuffer[offset+length_st_strings-1]=0;
scarter1 0:020db18a476d 193 this->st_strings = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 194 offset += length_st_strings;
scarter1 0:020db18a476d 195 memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
scarter1 0:020db18a476d 196 }
scarter1 0:020db18a476d 197 return offset;
scarter1 0:020db18a476d 198 }
scarter1 0:020db18a476d 199
scarter1 0:020db18a476d 200 const char * getType(){ return REQUESTPARAM; };
scarter1 0:020db18a476d 201 const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
scarter1 0:020db18a476d 202
scarter1 0:020db18a476d 203 };
scarter1 0:020db18a476d 204
scarter1 0:020db18a476d 205 class RequestParam {
scarter1 0:020db18a476d 206 public:
scarter1 0:020db18a476d 207 typedef RequestParamRequest Request;
scarter1 0:020db18a476d 208 typedef RequestParamResponse Response;
scarter1 0:020db18a476d 209 };
scarter1 0:020db18a476d 210
scarter1 0:020db18a476d 211 }
scarter1 0:020db18a476d 212 #endif