Revision 3:b964e3f71102, committed 2019-12-03

Comitter:

florine_van

Date:

Tue Dec 03 09:39:29 2019 +0000

Parent:

1:afa33e06a2ca

Commit message:

Clean code and remove unused lines

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/mbed_custom_msgs/motor_msg.h	Tue Dec 03 09:39:29 2019 +0000
@@ -0,0 +1,88 @@
+#ifndef _ROS_mbed_custom_msgs_motor_msg_h
+#define _ROS_mbed_custom_msgs_motor_msg_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace mbed_custom_msgs
+{
+
+  class motor_msg : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _dir_type;
+      _dir_type dir;
+      typedef uint32_t _distance_type;
+      _distance_type distance;
+      typedef const char* _data_type;
+      _data_type data;
+
+    motor_msg():
+      header(),
+      dir(0),
+      distance(0),
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->dir >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->dir >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->dir >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->dir >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dir);
+      *(outbuffer + offset + 0) = (this->distance >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->distance >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->distance >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->distance >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->distance);
+      uint32_t length_data = strlen(this->data);
+      varToArr(outbuffer + offset, length_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->dir =  ((uint32_t) (*(inbuffer + offset)));
+      this->dir |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->dir |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->dir |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->dir);
+      this->distance =  ((uint32_t) (*(inbuffer + offset)));
+      this->distance |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->distance |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->distance |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->distance);
+      uint32_t length_data;
+      arrToVar(length_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "mbed_custom_msgs/motor_msg"; };
+    const char * getMD5(){ return "909cbfaf292151468a2d094d3150d943"; };
+
+  };
+
+}
+#endif
+