Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

turtlesim/Spawn.h

Committer:
garyservin
Date:
2016-12-31
Revision:
0:9e9b7db60fd5

File content as of revision 0:9e9b7db60fd5:

#ifndef _ROS_SERVICE_Spawn_h
#define _ROS_SERVICE_Spawn_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace turtlesim
{

static const char SPAWN[] = "turtlesim/Spawn";

  class SpawnRequest : public ros::Msg
  {
    public:
      typedef float _x_type;
      _x_type x;
      typedef float _y_type;
      _y_type y;
      typedef float _theta_type;
      _theta_type theta;
      typedef const char* _name_type;
      _name_type name;

    SpawnRequest():
      x(0),
      y(0),
      theta(0),
      name("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_x;
      u_x.real = this->x;
      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->x);
      union {
        float real;
        uint32_t base;
      } u_y;
      u_y.real = this->y;
      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->y);
      union {
        float real;
        uint32_t base;
      } u_theta;
      u_theta.real = this->theta;
      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->theta);
      uint32_t length_name = strlen(this->name);
      varToArr(outbuffer + offset, length_name);
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_x;
      u_x.base = 0;
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->x = u_x.real;
      offset += sizeof(this->x);
      union {
        float real;
        uint32_t base;
      } u_y;
      u_y.base = 0;
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->y = u_y.real;
      offset += sizeof(this->y);
      union {
        float real;
        uint32_t base;
      } u_theta;
      u_theta.base = 0;
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->theta = u_theta.real;
      offset += sizeof(this->theta);
      uint32_t length_name;
      arrToVar(length_name, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
     return offset;
    }

    const char * getType(){ return SPAWN; };
    const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };

  };

  class SpawnResponse : public ros::Msg
  {
    public:
      typedef const char* _name_type;
      _name_type name;

    SpawnResponse():
      name("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_name = strlen(this->name);
      varToArr(outbuffer + offset, length_name);
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_name;
      arrToVar(length_name, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
     return offset;
    }

    const char * getType(){ return SPAWN; };
    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };

  };

  class Spawn {
    public:
    typedef SpawnRequest Request;
    typedef SpawnResponse Response;
  };

}
#endif