Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/turtlesim/TeleportAbsolute.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_TeleportAbsolute_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_TeleportAbsolute_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 turtlesim
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class TeleportAbsoluteRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef float _x_type;
scarter1 0:020db18a476d 17 _x_type x;
scarter1 0:020db18a476d 18 typedef float _y_type;
scarter1 0:020db18a476d 19 _y_type y;
scarter1 0:020db18a476d 20 typedef float _theta_type;
scarter1 0:020db18a476d 21 _theta_type theta;
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 TeleportAbsoluteRequest():
scarter1 0:020db18a476d 24 x(0),
scarter1 0:020db18a476d 25 y(0),
scarter1 0:020db18a476d 26 theta(0)
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 }
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 31 {
scarter1 0:020db18a476d 32 int offset = 0;
scarter1 0:020db18a476d 33 union {
scarter1 0:020db18a476d 34 float real;
scarter1 0:020db18a476d 35 uint32_t base;
scarter1 0:020db18a476d 36 } u_x;
scarter1 0:020db18a476d 37 u_x.real = this->x;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 42 offset += sizeof(this->x);
scarter1 0:020db18a476d 43 union {
scarter1 0:020db18a476d 44 float real;
scarter1 0:020db18a476d 45 uint32_t base;
scarter1 0:020db18a476d 46 } u_y;
scarter1 0:020db18a476d 47 u_y.real = this->y;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 52 offset += sizeof(this->y);
scarter1 0:020db18a476d 53 union {
scarter1 0:020db18a476d 54 float real;
scarter1 0:020db18a476d 55 uint32_t base;
scarter1 0:020db18a476d 56 } u_theta;
scarter1 0:020db18a476d 57 u_theta.real = this->theta;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 62 offset += sizeof(this->theta);
scarter1 0:020db18a476d 63 return offset;
scarter1 0:020db18a476d 64 }
scarter1 0:020db18a476d 65
scarter1 0:020db18a476d 66 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 int offset = 0;
scarter1 0:020db18a476d 69 union {
scarter1 0:020db18a476d 70 float real;
scarter1 0:020db18a476d 71 uint32_t base;
scarter1 0:020db18a476d 72 } u_x;
scarter1 0:020db18a476d 73 u_x.base = 0;
scarter1 0:020db18a476d 74 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 75 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 76 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 77 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 78 this->x = u_x.real;
scarter1 0:020db18a476d 79 offset += sizeof(this->x);
scarter1 0:020db18a476d 80 union {
scarter1 0:020db18a476d 81 float real;
scarter1 0:020db18a476d 82 uint32_t base;
scarter1 0:020db18a476d 83 } u_y;
scarter1 0:020db18a476d 84 u_y.base = 0;
scarter1 0:020db18a476d 85 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 86 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 87 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 88 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 89 this->y = u_y.real;
scarter1 0:020db18a476d 90 offset += sizeof(this->y);
scarter1 0:020db18a476d 91 union {
scarter1 0:020db18a476d 92 float real;
scarter1 0:020db18a476d 93 uint32_t base;
scarter1 0:020db18a476d 94 } u_theta;
scarter1 0:020db18a476d 95 u_theta.base = 0;
scarter1 0:020db18a476d 96 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 97 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 98 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 99 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 100 this->theta = u_theta.real;
scarter1 0:020db18a476d 101 offset += sizeof(this->theta);
scarter1 0:020db18a476d 102 return offset;
scarter1 0:020db18a476d 103 }
scarter1 0:020db18a476d 104
scarter1 0:020db18a476d 105 const char * getType(){ return TELEPORTABSOLUTE; };
scarter1 0:020db18a476d 106 const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
scarter1 0:020db18a476d 107
scarter1 0:020db18a476d 108 };
scarter1 0:020db18a476d 109
scarter1 0:020db18a476d 110 class TeleportAbsoluteResponse : public ros::Msg
scarter1 0:020db18a476d 111 {
scarter1 0:020db18a476d 112 public:
scarter1 0:020db18a476d 113
scarter1 0:020db18a476d 114 TeleportAbsoluteResponse()
scarter1 0:020db18a476d 115 {
scarter1 0:020db18a476d 116 }
scarter1 0:020db18a476d 117
scarter1 0:020db18a476d 118 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 119 {
scarter1 0:020db18a476d 120 int offset = 0;
scarter1 0:020db18a476d 121 return offset;
scarter1 0:020db18a476d 122 }
scarter1 0:020db18a476d 123
scarter1 0:020db18a476d 124 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 125 {
scarter1 0:020db18a476d 126 int offset = 0;
scarter1 0:020db18a476d 127 return offset;
scarter1 0:020db18a476d 128 }
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 const char * getType(){ return TELEPORTABSOLUTE; };
scarter1 0:020db18a476d 131 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 132
scarter1 0:020db18a476d 133 };
scarter1 0:020db18a476d 134
scarter1 0:020db18a476d 135 class TeleportAbsolute {
scarter1 0:020db18a476d 136 public:
scarter1 0:020db18a476d 137 typedef TeleportAbsoluteRequest Request;
scarter1 0:020db18a476d 138 typedef TeleportAbsoluteResponse Response;
scarter1 0:020db18a476d 139 };
scarter1 0:020db18a476d 140
scarter1 0:020db18a476d 141 }
scarter1 0:020db18a476d 142 #endif