Irfan Tito Kurniawan / ros_lib

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ros_lib/turtlesim/Spawn.h@0:8f3710bfd298, 2020-09-02 (annotated)

Committer:
irfantitok
Date:
Wed Sep 02 13:51:31 2020 +0000
Revision:
0:8f3710bfd298
Resolved round not found

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:8f3710bfd298 1 #ifndef _ROS_SERVICE_Spawn_h
irfantitok 0:8f3710bfd298 2 #define _ROS_SERVICE_Spawn_h
irfantitok 0:8f3710bfd298 3 #include <stdint.h>
irfantitok 0:8f3710bfd298 4 #include <string.h>
irfantitok 0:8f3710bfd298 5 #include <stdlib.h>
irfantitok 0:8f3710bfd298 6 #include "ros/msg.h"
irfantitok 0:8f3710bfd298 7
irfantitok 0:8f3710bfd298 8 namespace turtlesim
irfantitok 0:8f3710bfd298 9 {
irfantitok 0:8f3710bfd298 10
irfantitok 0:8f3710bfd298 11 static const char SPAWN[] = "turtlesim/Spawn";
irfantitok 0:8f3710bfd298 12
irfantitok 0:8f3710bfd298 13 class SpawnRequest : public ros::Msg
irfantitok 0:8f3710bfd298 14 {
irfantitok 0:8f3710bfd298 15 public:
irfantitok 0:8f3710bfd298 16 typedef float _x_type;
irfantitok 0:8f3710bfd298 17 _x_type x;
irfantitok 0:8f3710bfd298 18 typedef float _y_type;
irfantitok 0:8f3710bfd298 19 _y_type y;
irfantitok 0:8f3710bfd298 20 typedef float _theta_type;
irfantitok 0:8f3710bfd298 21 _theta_type theta;
irfantitok 0:8f3710bfd298 22 typedef const char* _name_type;
irfantitok 0:8f3710bfd298 23 _name_type name;
irfantitok 0:8f3710bfd298 24
irfantitok 0:8f3710bfd298 25 SpawnRequest():
irfantitok 0:8f3710bfd298 26 x(0),
irfantitok 0:8f3710bfd298 27 y(0),
irfantitok 0:8f3710bfd298 28 theta(0),
irfantitok 0:8f3710bfd298 29 name("")
irfantitok 0:8f3710bfd298 30 {
irfantitok 0:8f3710bfd298 31 }
irfantitok 0:8f3710bfd298 32
irfantitok 0:8f3710bfd298 33 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 34 {
irfantitok 0:8f3710bfd298 35 int offset = 0;
irfantitok 0:8f3710bfd298 36 union {
irfantitok 0:8f3710bfd298 37 float real;
irfantitok 0:8f3710bfd298 38 uint32_t base;
irfantitok 0:8f3710bfd298 39 } u_x;
irfantitok 0:8f3710bfd298 40 u_x.real = this->x;
irfantitok 0:8f3710bfd298 41 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 42 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 43 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 44 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 45 offset += sizeof(this->x);
irfantitok 0:8f3710bfd298 46 union {
irfantitok 0:8f3710bfd298 47 float real;
irfantitok 0:8f3710bfd298 48 uint32_t base;
irfantitok 0:8f3710bfd298 49 } u_y;
irfantitok 0:8f3710bfd298 50 u_y.real = this->y;
irfantitok 0:8f3710bfd298 51 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 52 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 53 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 54 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 55 offset += sizeof(this->y);
irfantitok 0:8f3710bfd298 56 union {
irfantitok 0:8f3710bfd298 57 float real;
irfantitok 0:8f3710bfd298 58 uint32_t base;
irfantitok 0:8f3710bfd298 59 } u_theta;
irfantitok 0:8f3710bfd298 60 u_theta.real = this->theta;
irfantitok 0:8f3710bfd298 61 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 62 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 63 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 64 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 65 offset += sizeof(this->theta);
irfantitok 0:8f3710bfd298 66 uint32_t length_name = strlen(this->name);
irfantitok 0:8f3710bfd298 67 varToArr(outbuffer + offset, length_name);
irfantitok 0:8f3710bfd298 68 offset += 4;
irfantitok 0:8f3710bfd298 69 memcpy(outbuffer + offset, this->name, length_name);
irfantitok 0:8f3710bfd298 70 offset += length_name;
irfantitok 0:8f3710bfd298 71 return offset;
irfantitok 0:8f3710bfd298 72 }
irfantitok 0:8f3710bfd298 73
irfantitok 0:8f3710bfd298 74 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 75 {
irfantitok 0:8f3710bfd298 76 int offset = 0;
irfantitok 0:8f3710bfd298 77 union {
irfantitok 0:8f3710bfd298 78 float real;
irfantitok 0:8f3710bfd298 79 uint32_t base;
irfantitok 0:8f3710bfd298 80 } u_x;
irfantitok 0:8f3710bfd298 81 u_x.base = 0;
irfantitok 0:8f3710bfd298 82 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 83 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 84 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 85 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 86 this->x = u_x.real;
irfantitok 0:8f3710bfd298 87 offset += sizeof(this->x);
irfantitok 0:8f3710bfd298 88 union {
irfantitok 0:8f3710bfd298 89 float real;
irfantitok 0:8f3710bfd298 90 uint32_t base;
irfantitok 0:8f3710bfd298 91 } u_y;
irfantitok 0:8f3710bfd298 92 u_y.base = 0;
irfantitok 0:8f3710bfd298 93 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 94 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 95 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 96 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 97 this->y = u_y.real;
irfantitok 0:8f3710bfd298 98 offset += sizeof(this->y);
irfantitok 0:8f3710bfd298 99 union {
irfantitok 0:8f3710bfd298 100 float real;
irfantitok 0:8f3710bfd298 101 uint32_t base;
irfantitok 0:8f3710bfd298 102 } u_theta;
irfantitok 0:8f3710bfd298 103 u_theta.base = 0;
irfantitok 0:8f3710bfd298 104 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 105 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 106 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 107 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 108 this->theta = u_theta.real;
irfantitok 0:8f3710bfd298 109 offset += sizeof(this->theta);
irfantitok 0:8f3710bfd298 110 uint32_t length_name;
irfantitok 0:8f3710bfd298 111 arrToVar(length_name, (inbuffer + offset));
irfantitok 0:8f3710bfd298 112 offset += 4;
irfantitok 0:8f3710bfd298 113 for(unsigned int k= offset; k< offset+length_name; ++k){
irfantitok 0:8f3710bfd298 114 inbuffer[k-1]=inbuffer[k];
irfantitok 0:8f3710bfd298 115 }
irfantitok 0:8f3710bfd298 116 inbuffer[offset+length_name-1]=0;
irfantitok 0:8f3710bfd298 117 this->name = (char *)(inbuffer + offset-1);
irfantitok 0:8f3710bfd298 118 offset += length_name;
irfantitok 0:8f3710bfd298 119 return offset;
irfantitok 0:8f3710bfd298 120 }
irfantitok 0:8f3710bfd298 121
irfantitok 0:8f3710bfd298 122 const char * getType(){ return SPAWN; };
irfantitok 0:8f3710bfd298 123 const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
irfantitok 0:8f3710bfd298 124
irfantitok 0:8f3710bfd298 125 };
irfantitok 0:8f3710bfd298 126
irfantitok 0:8f3710bfd298 127 class SpawnResponse : public ros::Msg
irfantitok 0:8f3710bfd298 128 {
irfantitok 0:8f3710bfd298 129 public:
irfantitok 0:8f3710bfd298 130 typedef const char* _name_type;
irfantitok 0:8f3710bfd298 131 _name_type name;
irfantitok 0:8f3710bfd298 132
irfantitok 0:8f3710bfd298 133 SpawnResponse():
irfantitok 0:8f3710bfd298 134 name("")
irfantitok 0:8f3710bfd298 135 {
irfantitok 0:8f3710bfd298 136 }
irfantitok 0:8f3710bfd298 137
irfantitok 0:8f3710bfd298 138 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 139 {
irfantitok 0:8f3710bfd298 140 int offset = 0;
irfantitok 0:8f3710bfd298 141 uint32_t length_name = strlen(this->name);
irfantitok 0:8f3710bfd298 142 varToArr(outbuffer + offset, length_name);
irfantitok 0:8f3710bfd298 143 offset += 4;
irfantitok 0:8f3710bfd298 144 memcpy(outbuffer + offset, this->name, length_name);
irfantitok 0:8f3710bfd298 145 offset += length_name;
irfantitok 0:8f3710bfd298 146 return offset;
irfantitok 0:8f3710bfd298 147 }
irfantitok 0:8f3710bfd298 148
irfantitok 0:8f3710bfd298 149 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 150 {
irfantitok 0:8f3710bfd298 151 int offset = 0;
irfantitok 0:8f3710bfd298 152 uint32_t length_name;
irfantitok 0:8f3710bfd298 153 arrToVar(length_name, (inbuffer + offset));
irfantitok 0:8f3710bfd298 154 offset += 4;
irfantitok 0:8f3710bfd298 155 for(unsigned int k= offset; k< offset+length_name; ++k){
irfantitok 0:8f3710bfd298 156 inbuffer[k-1]=inbuffer[k];
irfantitok 0:8f3710bfd298 157 }
irfantitok 0:8f3710bfd298 158 inbuffer[offset+length_name-1]=0;
irfantitok 0:8f3710bfd298 159 this->name = (char *)(inbuffer + offset-1);
irfantitok 0:8f3710bfd298 160 offset += length_name;
irfantitok 0:8f3710bfd298 161 return offset;
irfantitok 0:8f3710bfd298 162 }
irfantitok 0:8f3710bfd298 163
irfantitok 0:8f3710bfd298 164 const char * getType(){ return SPAWN; };
irfantitok 0:8f3710bfd298 165 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
irfantitok 0:8f3710bfd298 166
irfantitok 0:8f3710bfd298 167 };
irfantitok 0:8f3710bfd298 168
irfantitok 0:8f3710bfd298 169 class Spawn {
irfantitok 0:8f3710bfd298 170 public:
irfantitok 0:8f3710bfd298 171 typedef SpawnRequest Request;
irfantitok 0:8f3710bfd298 172 typedef SpawnResponse Response;
irfantitok 0:8f3710bfd298 173 };
irfantitok 0:8f3710bfd298 174
irfantitok 0:8f3710bfd298 175 }
irfantitok 0:8f3710bfd298 176 #endif