Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/turtlesim/Spawn.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_Spawn_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_Spawn_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 SPAWN[] = "turtlesim/Spawn";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class SpawnRequest : 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 typedef const char* _name_type;
scarter1 0:020db18a476d 23 _name_type name;
scarter1 0:020db18a476d 24
scarter1 0:020db18a476d 25 SpawnRequest():
scarter1 0:020db18a476d 26 x(0),
scarter1 0:020db18a476d 27 y(0),
scarter1 0:020db18a476d 28 theta(0),
scarter1 0:020db18a476d 29 name("")
scarter1 0:020db18a476d 30 {
scarter1 0:020db18a476d 31 }
scarter1 0:020db18a476d 32
scarter1 0:020db18a476d 33 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 34 {
scarter1 0:020db18a476d 35 int offset = 0;
scarter1 0:020db18a476d 36 union {
scarter1 0:020db18a476d 37 float real;
scarter1 0:020db18a476d 38 uint32_t base;
scarter1 0:020db18a476d 39 } u_x;
scarter1 0:020db18a476d 40 u_x.real = this->x;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 45 offset += sizeof(this->x);
scarter1 0:020db18a476d 46 union {
scarter1 0:020db18a476d 47 float real;
scarter1 0:020db18a476d 48 uint32_t base;
scarter1 0:020db18a476d 49 } u_y;
scarter1 0:020db18a476d 50 u_y.real = this->y;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 52 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 55 offset += sizeof(this->y);
scarter1 0:020db18a476d 56 union {
scarter1 0:020db18a476d 57 float real;
scarter1 0:020db18a476d 58 uint32_t base;
scarter1 0:020db18a476d 59 } u_theta;
scarter1 0:020db18a476d 60 u_theta.real = this->theta;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 65 offset += sizeof(this->theta);
scarter1 0:020db18a476d 66 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 67 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 68 offset += 4;
scarter1 0:020db18a476d 69 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 70 offset += length_name;
scarter1 0:020db18a476d 71 return offset;
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73
scarter1 0:020db18a476d 74 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 75 {
scarter1 0:020db18a476d 76 int offset = 0;
scarter1 0:020db18a476d 77 union {
scarter1 0:020db18a476d 78 float real;
scarter1 0:020db18a476d 79 uint32_t base;
scarter1 0:020db18a476d 80 } u_x;
scarter1 0:020db18a476d 81 u_x.base = 0;
scarter1 0:020db18a476d 82 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 83 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 84 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 85 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 86 this->x = u_x.real;
scarter1 0:020db18a476d 87 offset += sizeof(this->x);
scarter1 0:020db18a476d 88 union {
scarter1 0:020db18a476d 89 float real;
scarter1 0:020db18a476d 90 uint32_t base;
scarter1 0:020db18a476d 91 } u_y;
scarter1 0:020db18a476d 92 u_y.base = 0;
scarter1 0:020db18a476d 93 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 94 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 95 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 96 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 97 this->y = u_y.real;
scarter1 0:020db18a476d 98 offset += sizeof(this->y);
scarter1 0:020db18a476d 99 union {
scarter1 0:020db18a476d 100 float real;
scarter1 0:020db18a476d 101 uint32_t base;
scarter1 0:020db18a476d 102 } u_theta;
scarter1 0:020db18a476d 103 u_theta.base = 0;
scarter1 0:020db18a476d 104 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 105 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 106 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 107 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 108 this->theta = u_theta.real;
scarter1 0:020db18a476d 109 offset += sizeof(this->theta);
scarter1 0:020db18a476d 110 uint32_t length_name;
scarter1 0:020db18a476d 111 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 112 offset += 4;
scarter1 0:020db18a476d 113 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 114 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 115 }
scarter1 0:020db18a476d 116 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 117 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 118 offset += length_name;
scarter1 0:020db18a476d 119 return offset;
scarter1 0:020db18a476d 120 }
scarter1 0:020db18a476d 121
scarter1 0:020db18a476d 122 const char * getType(){ return SPAWN; };
scarter1 0:020db18a476d 123 const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
scarter1 0:020db18a476d 124
scarter1 0:020db18a476d 125 };
scarter1 0:020db18a476d 126
scarter1 0:020db18a476d 127 class SpawnResponse : public ros::Msg
scarter1 0:020db18a476d 128 {
scarter1 0:020db18a476d 129 public:
scarter1 0:020db18a476d 130 typedef const char* _name_type;
scarter1 0:020db18a476d 131 _name_type name;
scarter1 0:020db18a476d 132
scarter1 0:020db18a476d 133 SpawnResponse():
scarter1 0:020db18a476d 134 name("")
scarter1 0:020db18a476d 135 {
scarter1 0:020db18a476d 136 }
scarter1 0:020db18a476d 137
scarter1 0:020db18a476d 138 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 139 {
scarter1 0:020db18a476d 140 int offset = 0;
scarter1 0:020db18a476d 141 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 142 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 143 offset += 4;
scarter1 0:020db18a476d 144 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 145 offset += length_name;
scarter1 0:020db18a476d 146 return offset;
scarter1 0:020db18a476d 147 }
scarter1 0:020db18a476d 148
scarter1 0:020db18a476d 149 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 150 {
scarter1 0:020db18a476d 151 int offset = 0;
scarter1 0:020db18a476d 152 uint32_t length_name;
scarter1 0:020db18a476d 153 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 154 offset += 4;
scarter1 0:020db18a476d 155 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 156 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 157 }
scarter1 0:020db18a476d 158 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 159 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 160 offset += length_name;
scarter1 0:020db18a476d 161 return offset;
scarter1 0:020db18a476d 162 }
scarter1 0:020db18a476d 163
scarter1 0:020db18a476d 164 const char * getType(){ return SPAWN; };
scarter1 0:020db18a476d 165 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
scarter1 0:020db18a476d 166
scarter1 0:020db18a476d 167 };
scarter1 0:020db18a476d 168
scarter1 0:020db18a476d 169 class Spawn {
scarter1 0:020db18a476d 170 public:
scarter1 0:020db18a476d 171 typedef SpawnRequest Request;
scarter1 0:020db18a476d 172 typedef SpawnResponse Response;
scarter1 0:020db18a476d 173 };
scarter1 0:020db18a476d 174
scarter1 0:020db18a476d 175 }
scarter1 0:020db18a476d 176 #endif