John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

turtlesim/Kill.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_Kill_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_Kill_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
Gary Servin 0:04ac6be8229a 8 namespace turtlesim
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char KILL[] = "turtlesim/Kill";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class KillRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 17 _name_type name;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 KillRequest():
Gary Servin 0:04ac6be8229a 20 name("")
Gary Servin 0:04ac6be8229a 21 {
Gary Servin 0:04ac6be8229a 22 }
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 int offset = 0;
Gary Servin 0:04ac6be8229a 27 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 28 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 29 offset += 4;
Gary Servin 0:04ac6be8229a 30 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 31 offset += length_name;
Gary Servin 0:04ac6be8229a 32 return offset;
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 uint32_t length_name;
Gary Servin 0:04ac6be8229a 39 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 42 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 45 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 46 offset += length_name;
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 const char * getType(){ return KILL; };
Gary Servin 0:04ac6be8229a 51 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 };
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 class KillResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 public:
Gary Servin 0:04ac6be8229a 58
Gary Servin 0:04ac6be8229a 59 KillResponse()
Gary Servin 0:04ac6be8229a 60 {
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62
Gary Servin 0:04ac6be8229a 63 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 64 {
Gary Servin 0:04ac6be8229a 65 int offset = 0;
Gary Servin 0:04ac6be8229a 66 return offset;
Gary Servin 0:04ac6be8229a 67 }
Gary Servin 0:04ac6be8229a 68
Gary Servin 0:04ac6be8229a 69 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 70 {
Gary Servin 0:04ac6be8229a 71 int offset = 0;
Gary Servin 0:04ac6be8229a 72 return offset;
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 const char * getType(){ return KILL; };
Gary Servin 0:04ac6be8229a 76 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 77
Gary Servin 0:04ac6be8229a 78 };
Gary Servin 0:04ac6be8229a 79
Gary Servin 0:04ac6be8229a 80 class Kill {
Gary Servin 0:04ac6be8229a 81 public:
Gary Servin 0:04ac6be8229a 82 typedef KillRequest Request;
Gary Servin 0:04ac6be8229a 83 typedef KillResponse Response;
Gary Servin 0:04ac6be8229a 84 };
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87 #endif