John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

controller_manager_msgs/ListControllers.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_ListControllers_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_ListControllers_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 "controller_manager_msgs/ControllerState.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 static const char LISTCONTROLLERS[] = "controller_manager_msgs/ListControllers";
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class ListControllersRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17
Gary Servin 0:04ac6be8229a 18 ListControllersRequest()
Gary Servin 0:04ac6be8229a 19 {
Gary Servin 0:04ac6be8229a 20 }
Gary Servin 0:04ac6be8229a 21
Gary Servin 0:04ac6be8229a 22 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 int offset = 0;
Gary Servin 0:04ac6be8229a 25 return offset;
Gary Servin 0:04ac6be8229a 26 }
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 int offset = 0;
Gary Servin 0:04ac6be8229a 31 return offset;
Gary Servin 0:04ac6be8229a 32 }
Gary Servin 0:04ac6be8229a 33
Gary Servin 0:04ac6be8229a 34 const char * getType(){ return LISTCONTROLLERS; };
Gary Servin 0:04ac6be8229a 35 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 36
Gary Servin 0:04ac6be8229a 37 };
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 class ListControllersResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 public:
Gary Servin 0:04ac6be8229a 42 uint32_t controller_length;
Gary Servin 0:04ac6be8229a 43 typedef controller_manager_msgs::ControllerState _controller_type;
Gary Servin 0:04ac6be8229a 44 _controller_type st_controller;
Gary Servin 0:04ac6be8229a 45 _controller_type * controller;
Gary Servin 0:04ac6be8229a 46
Gary Servin 0:04ac6be8229a 47 ListControllersResponse():
Gary Servin 0:04ac6be8229a 48 controller_length(0), controller(NULL)
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 int offset = 0;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 0) = (this->controller_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 1) = (this->controller_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 2) = (this->controller_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 3) = (this->controller_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 offset += sizeof(this->controller_length);
Gary Servin 0:04ac6be8229a 60 for( uint32_t i = 0; i < controller_length; i++){
Gary Servin 0:04ac6be8229a 61 offset += this->controller[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63 return offset;
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 int offset = 0;
Gary Servin 0:04ac6be8229a 69 uint32_t controller_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 70 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 71 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 72 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->controller_length);
Gary Servin 0:04ac6be8229a 74 if(controller_lengthT > controller_length)
Gary Servin 0:04ac6be8229a 75 this->controller = (controller_manager_msgs::ControllerState*)realloc(this->controller, controller_lengthT * sizeof(controller_manager_msgs::ControllerState));
Gary Servin 0:04ac6be8229a 76 controller_length = controller_lengthT;
Gary Servin 0:04ac6be8229a 77 for( uint32_t i = 0; i < controller_length; i++){
Gary Servin 0:04ac6be8229a 78 offset += this->st_controller.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 79 memcpy( &(this->controller[i]), &(this->st_controller), sizeof(controller_manager_msgs::ControllerState));
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81 return offset;
Gary Servin 0:04ac6be8229a 82 }
Gary Servin 0:04ac6be8229a 83
Gary Servin 0:04ac6be8229a 84 const char * getType(){ return LISTCONTROLLERS; };
Gary Servin 0:04ac6be8229a 85 const char * getMD5(){ return "1341feb2e63fa791f855565d0da950d8"; };
Gary Servin 0:04ac6be8229a 86
Gary Servin 0:04ac6be8229a 87 };
Gary Servin 0:04ac6be8229a 88
Gary Servin 0:04ac6be8229a 89 class ListControllers {
Gary Servin 0:04ac6be8229a 90 public:
Gary Servin 0:04ac6be8229a 91 typedef ListControllersRequest Request;
Gary Servin 0:04ac6be8229a 92 typedef ListControllersResponse Response;
Gary Servin 0:04ac6be8229a 93 };
Gary Servin 0:04ac6be8229a 94
Gary Servin 0:04ac6be8229a 95 }
Gary Servin 0:04ac6be8229a 96 #endif