John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

smach_msgs/SmachContainerInitialStatusCmd.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_smach_msgs_SmachContainerInitialStatusCmd_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_smach_msgs_SmachContainerInitialStatusCmd_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace smach_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class SmachContainerInitialStatusCmd : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _path_type;
Gary Servin 0:04ac6be8229a 16 _path_type path;
Gary Servin 0:04ac6be8229a 17 uint32_t initial_states_length;
Gary Servin 0:04ac6be8229a 18 typedef char* _initial_states_type;
Gary Servin 0:04ac6be8229a 19 _initial_states_type st_initial_states;
Gary Servin 0:04ac6be8229a 20 _initial_states_type * initial_states;
Gary Servin 0:04ac6be8229a 21 typedef const char* _local_data_type;
Gary Servin 0:04ac6be8229a 22 _local_data_type local_data;
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 SmachContainerInitialStatusCmd():
Gary Servin 0:04ac6be8229a 25 path(""),
Gary Servin 0:04ac6be8229a 26 initial_states_length(0), initial_states(NULL),
Gary Servin 0:04ac6be8229a 27 local_data("")
Gary Servin 0:04ac6be8229a 28 {
Gary Servin 0:04ac6be8229a 29 }
Gary Servin 0:04ac6be8229a 30
Gary Servin 0:04ac6be8229a 31 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 32 {
Gary Servin 0:04ac6be8229a 33 int offset = 0;
Gary Servin 0:04ac6be8229a 34 uint32_t length_path = strlen(this->path);
Gary Servin 0:04ac6be8229a 35 varToArr(outbuffer + offset, length_path);
Gary Servin 0:04ac6be8229a 36 offset += 4;
Gary Servin 0:04ac6be8229a 37 memcpy(outbuffer + offset, this->path, length_path);
Gary Servin 0:04ac6be8229a 38 offset += length_path;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 offset += sizeof(this->initial_states_length);
Gary Servin 0:04ac6be8229a 44 for( uint32_t i = 0; i < initial_states_length; i++){
Gary Servin 0:04ac6be8229a 45 uint32_t length_initial_statesi = strlen(this->initial_states[i]);
Gary Servin 0:04ac6be8229a 46 varToArr(outbuffer + offset, length_initial_statesi);
Gary Servin 0:04ac6be8229a 47 offset += 4;
Gary Servin 0:04ac6be8229a 48 memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
Gary Servin 0:04ac6be8229a 49 offset += length_initial_statesi;
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51 uint32_t length_local_data = strlen(this->local_data);
Gary Servin 0:04ac6be8229a 52 varToArr(outbuffer + offset, length_local_data);
Gary Servin 0:04ac6be8229a 53 offset += 4;
Gary Servin 0:04ac6be8229a 54 memcpy(outbuffer + offset, this->local_data, length_local_data);
Gary Servin 0:04ac6be8229a 55 offset += length_local_data;
Gary Servin 0:04ac6be8229a 56 return offset;
Gary Servin 0:04ac6be8229a 57 }
Gary Servin 0:04ac6be8229a 58
Gary Servin 0:04ac6be8229a 59 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 60 {
Gary Servin 0:04ac6be8229a 61 int offset = 0;
Gary Servin 0:04ac6be8229a 62 uint32_t length_path;
Gary Servin 0:04ac6be8229a 63 arrToVar(length_path, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 64 offset += 4;
Gary Servin 0:04ac6be8229a 65 for(unsigned int k= offset; k< offset+length_path; ++k){
Gary Servin 0:04ac6be8229a 66 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 67 }
Gary Servin 0:04ac6be8229a 68 inbuffer[offset+length_path-1]=0;
Gary Servin 0:04ac6be8229a 69 this->path = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 70 offset += length_path;
Gary Servin 0:04ac6be8229a 71 uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 72 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 73 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 74 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 75 offset += sizeof(this->initial_states_length);
Gary Servin 0:04ac6be8229a 76 if(initial_states_lengthT > initial_states_length)
Gary Servin 0:04ac6be8229a 77 this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 78 initial_states_length = initial_states_lengthT;
Gary Servin 0:04ac6be8229a 79 for( uint32_t i = 0; i < initial_states_length; i++){
Gary Servin 0:04ac6be8229a 80 uint32_t length_st_initial_states;
Gary Servin 0:04ac6be8229a 81 arrToVar(length_st_initial_states, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 82 offset += 4;
Gary Servin 0:04ac6be8229a 83 for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
Gary Servin 0:04ac6be8229a 84 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 85 }
Gary Servin 0:04ac6be8229a 86 inbuffer[offset+length_st_initial_states-1]=0;
Gary Servin 0:04ac6be8229a 87 this->st_initial_states = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 88 offset += length_st_initial_states;
Gary Servin 0:04ac6be8229a 89 memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91 uint32_t length_local_data;
Gary Servin 0:04ac6be8229a 92 arrToVar(length_local_data, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 93 offset += 4;
Gary Servin 0:04ac6be8229a 94 for(unsigned int k= offset; k< offset+length_local_data; ++k){
Gary Servin 0:04ac6be8229a 95 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 96 }
Gary Servin 0:04ac6be8229a 97 inbuffer[offset+length_local_data-1]=0;
Gary Servin 0:04ac6be8229a 98 this->local_data = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 99 offset += length_local_data;
Gary Servin 0:04ac6be8229a 100 return offset;
Gary Servin 0:04ac6be8229a 101 }
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; };
Gary Servin 0:04ac6be8229a 104 const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; };
Gary Servin 0:04ac6be8229a 105
Gary Servin 0:04ac6be8229a 106 };
Gary Servin 0:04ac6be8229a 107
Gary Servin 0:04ac6be8229a 108 }
Gary Servin 0:04ac6be8229a 109 #endif