Jesus Fausto / ros_lib_kinetic3

Increased buffer size

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

turtle_actionlib/ShapeGoal.h@2:2e7b61982dd2, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:52:23 2018 +0000
Revision:
2:2e7b61982dd2
Parent:
0:9e9b7db60fd5 
Working towards recieving twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_turtle_actionlib_ShapeGoal_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_turtle_actionlib_ShapeGoal_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace turtle_actionlib
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class ShapeGoal : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef int32_t _edges_type;
garyservin 0:9e9b7db60fd5 16 _edges_type edges;
garyservin 0:9e9b7db60fd5 17 typedef float _radius_type;
garyservin 0:9e9b7db60fd5 18 _radius_type radius;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 ShapeGoal():
garyservin 0:9e9b7db60fd5 21 edges(0),
garyservin 0:9e9b7db60fd5 22 radius(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 union {
garyservin 0:9e9b7db60fd5 30 int32_t real;
garyservin 0:9e9b7db60fd5 31 uint32_t base;
garyservin 0:9e9b7db60fd5 32 } u_edges;
garyservin 0:9e9b7db60fd5 33 u_edges.real = this->edges;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (u_edges.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (u_edges.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (u_edges.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (u_edges.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->edges);
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 float real;
garyservin 0:9e9b7db60fd5 41 uint32_t base;
garyservin 0:9e9b7db60fd5 42 } u_radius;
garyservin 0:9e9b7db60fd5 43 u_radius.real = this->radius;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_radius.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (u_radius.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (u_radius.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (u_radius.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->radius);
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 int32_t real;
garyservin 0:9e9b7db60fd5 57 uint32_t base;
garyservin 0:9e9b7db60fd5 58 } u_edges;
garyservin 0:9e9b7db60fd5 59 u_edges.base = 0;
garyservin 0:9e9b7db60fd5 60 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 61 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 62 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 63 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 64 this->edges = u_edges.real;
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->edges);
garyservin 0:9e9b7db60fd5 66 union {
garyservin 0:9e9b7db60fd5 67 float real;
garyservin 0:9e9b7db60fd5 68 uint32_t base;
garyservin 0:9e9b7db60fd5 69 } u_radius;
garyservin 0:9e9b7db60fd5 70 u_radius.base = 0;
garyservin 0:9e9b7db60fd5 71 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 72 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 73 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 74 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 75 this->radius = u_radius.real;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->radius);
garyservin 0:9e9b7db60fd5 77 return offset;
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 const char * getType(){ return "turtle_actionlib/ShapeGoal"; };
garyservin 0:9e9b7db60fd5 81 const char * getMD5(){ return "3b9202ab7292cebe5a95ab2bf6b9c091"; };
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 #endif