57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
turtlesim/Spawn.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_Spawn_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_Spawn_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace turtlesim |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char SPAWN[] = "turtlesim/Spawn"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class SpawnRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef float _x_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _x_type x; |
garyservin | 0:9e9b7db60fd5 | 18 | typedef float _y_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _y_type y; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef float _theta_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _theta_type theta; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef const char* _name_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _name_type name; |
garyservin | 0:9e9b7db60fd5 | 24 | |
garyservin | 0:9e9b7db60fd5 | 25 | SpawnRequest(): |
garyservin | 0:9e9b7db60fd5 | 26 | x(0), |
garyservin | 0:9e9b7db60fd5 | 27 | y(0), |
garyservin | 0:9e9b7db60fd5 | 28 | theta(0), |
garyservin | 0:9e9b7db60fd5 | 29 | name("") |
garyservin | 0:9e9b7db60fd5 | 30 | { |
garyservin | 0:9e9b7db60fd5 | 31 | } |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 34 | { |
garyservin | 0:9e9b7db60fd5 | 35 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 36 | union { |
garyservin | 0:9e9b7db60fd5 | 37 | float real; |
garyservin | 0:9e9b7db60fd5 | 38 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 39 | } u_x; |
garyservin | 0:9e9b7db60fd5 | 40 | u_x.real = this->x; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | offset += sizeof(this->x); |
garyservin | 0:9e9b7db60fd5 | 46 | union { |
garyservin | 0:9e9b7db60fd5 | 47 | float real; |
garyservin | 0:9e9b7db60fd5 | 48 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 49 | } u_y; |
garyservin | 0:9e9b7db60fd5 | 50 | u_y.real = this->y; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | offset += sizeof(this->y); |
garyservin | 0:9e9b7db60fd5 | 56 | union { |
garyservin | 0:9e9b7db60fd5 | 57 | float real; |
garyservin | 0:9e9b7db60fd5 | 58 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 59 | } u_theta; |
garyservin | 0:9e9b7db60fd5 | 60 | u_theta.real = this->theta; |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | offset += sizeof(this->theta); |
garyservin | 0:9e9b7db60fd5 | 66 | uint32_t length_name = strlen(this->name); |
garyservin | 0:9e9b7db60fd5 | 67 | varToArr(outbuffer + offset, length_name); |
garyservin | 0:9e9b7db60fd5 | 68 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 69 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:9e9b7db60fd5 | 70 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 71 | return offset; |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | |
garyservin | 0:9e9b7db60fd5 | 74 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 75 | { |
garyservin | 0:9e9b7db60fd5 | 76 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 77 | union { |
garyservin | 0:9e9b7db60fd5 | 78 | float real; |
garyservin | 0:9e9b7db60fd5 | 79 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 80 | } u_x; |
garyservin | 0:9e9b7db60fd5 | 81 | u_x.base = 0; |
garyservin | 0:9e9b7db60fd5 | 82 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 83 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 84 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 85 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 86 | this->x = u_x.real; |
garyservin | 0:9e9b7db60fd5 | 87 | offset += sizeof(this->x); |
garyservin | 0:9e9b7db60fd5 | 88 | union { |
garyservin | 0:9e9b7db60fd5 | 89 | float real; |
garyservin | 0:9e9b7db60fd5 | 90 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 91 | } u_y; |
garyservin | 0:9e9b7db60fd5 | 92 | u_y.base = 0; |
garyservin | 0:9e9b7db60fd5 | 93 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 94 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 95 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 96 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 97 | this->y = u_y.real; |
garyservin | 0:9e9b7db60fd5 | 98 | offset += sizeof(this->y); |
garyservin | 0:9e9b7db60fd5 | 99 | union { |
garyservin | 0:9e9b7db60fd5 | 100 | float real; |
garyservin | 0:9e9b7db60fd5 | 101 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 102 | } u_theta; |
garyservin | 0:9e9b7db60fd5 | 103 | u_theta.base = 0; |
garyservin | 0:9e9b7db60fd5 | 104 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 105 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 106 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 107 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 108 | this->theta = u_theta.real; |
garyservin | 0:9e9b7db60fd5 | 109 | offset += sizeof(this->theta); |
garyservin | 0:9e9b7db60fd5 | 110 | uint32_t length_name; |
garyservin | 0:9e9b7db60fd5 | 111 | arrToVar(length_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 112 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 113 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 114 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 115 | } |
garyservin | 0:9e9b7db60fd5 | 116 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 117 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 118 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 119 | return offset; |
garyservin | 0:9e9b7db60fd5 | 120 | } |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | const char * getType(){ return SPAWN; }; |
garyservin | 0:9e9b7db60fd5 | 123 | const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; }; |
garyservin | 0:9e9b7db60fd5 | 124 | |
garyservin | 0:9e9b7db60fd5 | 125 | }; |
garyservin | 0:9e9b7db60fd5 | 126 | |
garyservin | 0:9e9b7db60fd5 | 127 | class SpawnResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 128 | { |
garyservin | 0:9e9b7db60fd5 | 129 | public: |
garyservin | 0:9e9b7db60fd5 | 130 | typedef const char* _name_type; |
garyservin | 0:9e9b7db60fd5 | 131 | _name_type name; |
garyservin | 0:9e9b7db60fd5 | 132 | |
garyservin | 0:9e9b7db60fd5 | 133 | SpawnResponse(): |
garyservin | 0:9e9b7db60fd5 | 134 | name("") |
garyservin | 0:9e9b7db60fd5 | 135 | { |
garyservin | 0:9e9b7db60fd5 | 136 | } |
garyservin | 0:9e9b7db60fd5 | 137 | |
garyservin | 0:9e9b7db60fd5 | 138 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 139 | { |
garyservin | 0:9e9b7db60fd5 | 140 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 141 | uint32_t length_name = strlen(this->name); |
garyservin | 0:9e9b7db60fd5 | 142 | varToArr(outbuffer + offset, length_name); |
garyservin | 0:9e9b7db60fd5 | 143 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 144 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:9e9b7db60fd5 | 145 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 146 | return offset; |
garyservin | 0:9e9b7db60fd5 | 147 | } |
garyservin | 0:9e9b7db60fd5 | 148 | |
garyservin | 0:9e9b7db60fd5 | 149 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 150 | { |
garyservin | 0:9e9b7db60fd5 | 151 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 152 | uint32_t length_name; |
garyservin | 0:9e9b7db60fd5 | 153 | arrToVar(length_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 154 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 155 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 156 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 157 | } |
garyservin | 0:9e9b7db60fd5 | 158 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 159 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 160 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 161 | return offset; |
garyservin | 0:9e9b7db60fd5 | 162 | } |
garyservin | 0:9e9b7db60fd5 | 163 | |
garyservin | 0:9e9b7db60fd5 | 164 | const char * getType(){ return SPAWN; }; |
garyservin | 0:9e9b7db60fd5 | 165 | const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; |
garyservin | 0:9e9b7db60fd5 | 166 | |
garyservin | 0:9e9b7db60fd5 | 167 | }; |
garyservin | 0:9e9b7db60fd5 | 168 | |
garyservin | 0:9e9b7db60fd5 | 169 | class Spawn { |
garyservin | 0:9e9b7db60fd5 | 170 | public: |
garyservin | 0:9e9b7db60fd5 | 171 | typedef SpawnRequest Request; |
garyservin | 0:9e9b7db60fd5 | 172 | typedef SpawnResponse Response; |
garyservin | 0:9e9b7db60fd5 | 173 | }; |
garyservin | 0:9e9b7db60fd5 | 174 | |
garyservin | 0:9e9b7db60fd5 | 175 | } |
garyservin | 0:9e9b7db60fd5 | 176 | #endif |