John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

nav_msgs/SetMap.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_SetMap_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetMap_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7 #include "nav_msgs/OccupancyGrid.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/PoseWithCovarianceStamped.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace nav_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 static const char SETMAP[] = "nav_msgs/SetMap";
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class SetMapRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef nav_msgs::OccupancyGrid _map_type;
Gary Servin 0:04ac6be8229a 19 _map_type map;
Gary Servin 0:04ac6be8229a 20 typedef geometry_msgs::PoseWithCovarianceStamped _initial_pose_type;
Gary Servin 0:04ac6be8229a 21 _initial_pose_type initial_pose;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 SetMapRequest():
Gary Servin 0:04ac6be8229a 24 map(),
Gary Servin 0:04ac6be8229a 25 initial_pose()
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 int offset = 0;
Gary Servin 0:04ac6be8229a 32 offset += this->map.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 33 offset += this->initial_pose.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 34 return offset;
Gary Servin 0:04ac6be8229a 35 }
Gary Servin 0:04ac6be8229a 36
Gary Servin 0:04ac6be8229a 37 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 int offset = 0;
Gary Servin 0:04ac6be8229a 40 offset += this->map.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 41 offset += this->initial_pose.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 42 return offset;
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44
Gary Servin 0:04ac6be8229a 45 const char * getType(){ return SETMAP; };
Gary Servin 0:04ac6be8229a 46 const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; };
Gary Servin 0:04ac6be8229a 47
Gary Servin 0:04ac6be8229a 48 };
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 class SetMapResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 51 {
Gary Servin 0:04ac6be8229a 52 public:
Gary Servin 0:04ac6be8229a 53 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 54 _success_type success;
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 SetMapResponse():
Gary Servin 0:04ac6be8229a 57 success(0)
Gary Servin 0:04ac6be8229a 58 {
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 62 {
Gary Servin 0:04ac6be8229a 63 int offset = 0;
Gary Servin 0:04ac6be8229a 64 union {
Gary Servin 0:04ac6be8229a 65 bool real;
Gary Servin 0:04ac6be8229a 66 uint8_t base;
Gary Servin 0:04ac6be8229a 67 } u_success;
Gary Servin 0:04ac6be8229a 68 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 71 return offset;
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73
Gary Servin 0:04ac6be8229a 74 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 75 {
Gary Servin 0:04ac6be8229a 76 int offset = 0;
Gary Servin 0:04ac6be8229a 77 union {
Gary Servin 0:04ac6be8229a 78 bool real;
Gary Servin 0:04ac6be8229a 79 uint8_t base;
Gary Servin 0:04ac6be8229a 80 } u_success;
Gary Servin 0:04ac6be8229a 81 u_success.base = 0;
Gary Servin 0:04ac6be8229a 82 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 83 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 84 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 85 return offset;
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87
Gary Servin 0:04ac6be8229a 88 const char * getType(){ return SETMAP; };
Gary Servin 0:04ac6be8229a 89 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 };
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 class SetMap {
Gary Servin 0:04ac6be8229a 94 public:
Gary Servin 0:04ac6be8229a 95 typedef SetMapRequest Request;
Gary Servin 0:04ac6be8229a 96 typedef SetMapResponse Response;
Gary Servin 0:04ac6be8229a 97 };
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100 #endif