Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

rosserial_msgs/RequestParam.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_RequestParam_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_RequestParam_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace rosserial_msgs
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class RequestParamRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 17 _name_type name;
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 RequestParamRequest():
garyservin 0:9e9b7db60fd5 20 name("")
garyservin 0:9e9b7db60fd5 21 {
garyservin 0:9e9b7db60fd5 22 }
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 int offset = 0;
garyservin 0:9e9b7db60fd5 27 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 28 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 29 offset += 4;
garyservin 0:9e9b7db60fd5 30 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 31 offset += length_name;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_name;
garyservin 0:9e9b7db60fd5 39 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 42 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 45 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 46 offset += length_name;
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 const char * getType(){ return REQUESTPARAM; };
garyservin 0:9e9b7db60fd5 51 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 };
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 class RequestParamResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58 uint32_t ints_length;
garyservin 0:9e9b7db60fd5 59 typedef int32_t _ints_type;
garyservin 0:9e9b7db60fd5 60 _ints_type st_ints;
garyservin 0:9e9b7db60fd5 61 _ints_type * ints;
garyservin 0:9e9b7db60fd5 62 uint32_t floats_length;
garyservin 0:9e9b7db60fd5 63 typedef float _floats_type;
garyservin 0:9e9b7db60fd5 64 _floats_type st_floats;
garyservin 0:9e9b7db60fd5 65 _floats_type * floats;
garyservin 0:9e9b7db60fd5 66 uint32_t strings_length;
garyservin 0:9e9b7db60fd5 67 typedef char* _strings_type;
garyservin 0:9e9b7db60fd5 68 _strings_type st_strings;
garyservin 0:9e9b7db60fd5 69 _strings_type * strings;
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 RequestParamResponse():
garyservin 0:9e9b7db60fd5 72 ints_length(0), ints(NULL),
garyservin 0:9e9b7db60fd5 73 floats_length(0), floats(NULL),
garyservin 0:9e9b7db60fd5 74 strings_length(0), strings(NULL)
garyservin 0:9e9b7db60fd5 75 {
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 79 {
garyservin 0:9e9b7db60fd5 80 int offset = 0;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->ints_length);
garyservin 0:9e9b7db60fd5 86 for( uint32_t i = 0; i < ints_length; i++){
garyservin 0:9e9b7db60fd5 87 union {
garyservin 0:9e9b7db60fd5 88 int32_t real;
garyservin 0:9e9b7db60fd5 89 uint32_t base;
garyservin 0:9e9b7db60fd5 90 } u_intsi;
garyservin 0:9e9b7db60fd5 91 u_intsi.real = this->ints[i];
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 offset += sizeof(this->ints[i]);
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (this->floats_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 1) = (this->floats_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 2) = (this->floats_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 3) = (this->floats_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->floats_length);
garyservin 0:9e9b7db60fd5 103 for( uint32_t i = 0; i < floats_length; i++){
garyservin 0:9e9b7db60fd5 104 union {
garyservin 0:9e9b7db60fd5 105 float real;
garyservin 0:9e9b7db60fd5 106 uint32_t base;
garyservin 0:9e9b7db60fd5 107 } u_floatsi;
garyservin 0:9e9b7db60fd5 108 u_floatsi.real = this->floats[i];
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->floats[i]);
garyservin 0:9e9b7db60fd5 114 }
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 0) = (this->strings_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 1) = (this->strings_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 2) = (this->strings_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 3) = (this->strings_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->strings_length);
garyservin 0:9e9b7db60fd5 120 for( uint32_t i = 0; i < strings_length; i++){
garyservin 0:9e9b7db60fd5 121 uint32_t length_stringsi = strlen(this->strings[i]);
garyservin 0:9e9b7db60fd5 122 varToArr(outbuffer + offset, length_stringsi);
garyservin 0:9e9b7db60fd5 123 offset += 4;
garyservin 0:9e9b7db60fd5 124 memcpy(outbuffer + offset, this->strings[i], length_stringsi);
garyservin 0:9e9b7db60fd5 125 offset += length_stringsi;
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127 return offset;
garyservin 0:9e9b7db60fd5 128 }
garyservin 0:9e9b7db60fd5 129
garyservin 0:9e9b7db60fd5 130 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 131 {
garyservin 0:9e9b7db60fd5 132 int offset = 0;
garyservin 0:9e9b7db60fd5 133 uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 134 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 135 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 136 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 137 offset += sizeof(this->ints_length);
garyservin 0:9e9b7db60fd5 138 if(ints_lengthT > ints_length)
garyservin 0:9e9b7db60fd5 139 this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
garyservin 0:9e9b7db60fd5 140 ints_length = ints_lengthT;
garyservin 0:9e9b7db60fd5 141 for( uint32_t i = 0; i < ints_length; i++){
garyservin 0:9e9b7db60fd5 142 union {
garyservin 0:9e9b7db60fd5 143 int32_t real;
garyservin 0:9e9b7db60fd5 144 uint32_t base;
garyservin 0:9e9b7db60fd5 145 } u_st_ints;
garyservin 0:9e9b7db60fd5 146 u_st_ints.base = 0;
garyservin 0:9e9b7db60fd5 147 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 148 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 149 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 150 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 151 this->st_ints = u_st_ints.real;
garyservin 0:9e9b7db60fd5 152 offset += sizeof(this->st_ints);
garyservin 0:9e9b7db60fd5 153 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
garyservin 0:9e9b7db60fd5 154 }
garyservin 0:9e9b7db60fd5 155 uint32_t floats_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 156 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 157 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 158 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 159 offset += sizeof(this->floats_length);
garyservin 0:9e9b7db60fd5 160 if(floats_lengthT > floats_length)
garyservin 0:9e9b7db60fd5 161 this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 162 floats_length = floats_lengthT;
garyservin 0:9e9b7db60fd5 163 for( uint32_t i = 0; i < floats_length; i++){
garyservin 0:9e9b7db60fd5 164 union {
garyservin 0:9e9b7db60fd5 165 float real;
garyservin 0:9e9b7db60fd5 166 uint32_t base;
garyservin 0:9e9b7db60fd5 167 } u_st_floats;
garyservin 0:9e9b7db60fd5 168 u_st_floats.base = 0;
garyservin 0:9e9b7db60fd5 169 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 170 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 171 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 172 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 173 this->st_floats = u_st_floats.real;
garyservin 0:9e9b7db60fd5 174 offset += sizeof(this->st_floats);
garyservin 0:9e9b7db60fd5 175 memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
garyservin 0:9e9b7db60fd5 176 }
garyservin 0:9e9b7db60fd5 177 uint32_t strings_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 178 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 179 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 180 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 181 offset += sizeof(this->strings_length);
garyservin 0:9e9b7db60fd5 182 if(strings_lengthT > strings_length)
garyservin 0:9e9b7db60fd5 183 this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 184 strings_length = strings_lengthT;
garyservin 0:9e9b7db60fd5 185 for( uint32_t i = 0; i < strings_length; i++){
garyservin 0:9e9b7db60fd5 186 uint32_t length_st_strings;
garyservin 0:9e9b7db60fd5 187 arrToVar(length_st_strings, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 188 offset += 4;
garyservin 0:9e9b7db60fd5 189 for(unsigned int k= offset; k< offset+length_st_strings; ++k){
garyservin 0:9e9b7db60fd5 190 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 191 }
garyservin 0:9e9b7db60fd5 192 inbuffer[offset+length_st_strings-1]=0;
garyservin 0:9e9b7db60fd5 193 this->st_strings = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 194 offset += length_st_strings;
garyservin 0:9e9b7db60fd5 195 memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
garyservin 0:9e9b7db60fd5 196 }
garyservin 0:9e9b7db60fd5 197 return offset;
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199
garyservin 0:9e9b7db60fd5 200 const char * getType(){ return REQUESTPARAM; };
garyservin 0:9e9b7db60fd5 201 const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
garyservin 0:9e9b7db60fd5 202
garyservin 0:9e9b7db60fd5 203 };
garyservin 0:9e9b7db60fd5 204
garyservin 0:9e9b7db60fd5 205 class RequestParam {
garyservin 0:9e9b7db60fd5 206 public:
garyservin 0:9e9b7db60fd5 207 typedef RequestParamRequest Request;
garyservin 0:9e9b7db60fd5 208 typedef RequestParamResponse Response;
garyservin 0:9e9b7db60fd5 209 };
garyservin 0:9e9b7db60fd5 210
garyservin 0:9e9b7db60fd5 211 }
garyservin 0:9e9b7db60fd5 212 #endif