John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

actionlib/TestGoal.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_actionlib_TestGoal_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_actionlib_TestGoal_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 actionlib
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class TestGoal : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef int32_t _goal_type;
Gary Servin 0:04ac6be8229a 16 _goal_type goal;
Gary Servin 0:04ac6be8229a 17
Gary Servin 0:04ac6be8229a 18 TestGoal():
Gary Servin 0:04ac6be8229a 19 goal(0)
Gary Servin 0:04ac6be8229a 20 {
Gary Servin 0:04ac6be8229a 21 }
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 24 {
Gary Servin 0:04ac6be8229a 25 int offset = 0;
Gary Servin 0:04ac6be8229a 26 union {
Gary Servin 0:04ac6be8229a 27 int32_t real;
Gary Servin 0:04ac6be8229a 28 uint32_t base;
Gary Servin 0:04ac6be8229a 29 } u_goal;
Gary Servin 0:04ac6be8229a 30 u_goal.real = this->goal;
Gary Servin 0:04ac6be8229a 31 *(outbuffer + offset + 0) = (u_goal.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 32 *(outbuffer + offset + 1) = (u_goal.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 2) = (u_goal.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 3) = (u_goal.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 offset += sizeof(this->goal);
Gary Servin 0:04ac6be8229a 36 return offset;
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 int offset = 0;
Gary Servin 0:04ac6be8229a 42 union {
Gary Servin 0:04ac6be8229a 43 int32_t real;
Gary Servin 0:04ac6be8229a 44 uint32_t base;
Gary Servin 0:04ac6be8229a 45 } u_goal;
Gary Servin 0:04ac6be8229a 46 u_goal.base = 0;
Gary Servin 0:04ac6be8229a 47 u_goal.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 48 u_goal.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 49 u_goal.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 50 u_goal.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 51 this->goal = u_goal.real;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->goal);
Gary Servin 0:04ac6be8229a 53 return offset;
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 const char * getType(){ return "actionlib/TestGoal"; };
Gary Servin 0:04ac6be8229a 57 const char * getMD5(){ return "18df0149936b7aa95588e3862476ebde"; };
Gary Servin 0:04ac6be8229a 58
Gary Servin 0:04ac6be8229a 59 };
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62 #endif