57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
turtlesim/Spawn.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_SERVICE_Spawn_h #define _ROS_SERVICE_Spawn_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace turtlesim { static const char SPAWN[] = "turtlesim/Spawn"; class SpawnRequest : public ros::Msg { public: typedef float _x_type; _x_type x; typedef float _y_type; _y_type y; typedef float _theta_type; _theta_type theta; typedef const char* _name_type; _name_type name; SpawnRequest(): x(0), y(0), theta(0), name("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { float real; uint32_t base; } u_x; u_x.real = this->x; *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; offset += sizeof(this->x); union { float real; uint32_t base; } u_y; u_y.real = this->y; *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; offset += sizeof(this->y); union { float real; uint32_t base; } u_theta; u_theta.real = this->theta; *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; offset += sizeof(this->theta); uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { float real; uint32_t base; } u_x; u_x.base = 0; u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->x = u_x.real; offset += sizeof(this->x); union { float real; uint32_t base; } u_y; u_y.base = 0; u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->y = u_y.real; offset += sizeof(this->y); union { float real; uint32_t base; } u_theta; u_theta.base = 0; u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->theta = u_theta.real; offset += sizeof(this->theta); uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; return offset; } const char * getType(){ return SPAWN; }; const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; }; }; class SpawnResponse : public ros::Msg { public: typedef const char* _name_type; _name_type name; SpawnResponse(): name("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; return offset; } const char * getType(){ return SPAWN; }; const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; }; class Spawn { public: typedef SpawnRequest Request; typedef SpawnResponse Response; }; } #endif