ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

turtlesim/Kill.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_Kill_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_Kill_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace turtlesim
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char KILL[] = "turtlesim/Kill";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class KillRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 const char* name;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 KillRequest():
garyservin 0:fd24f7ca9688 19 name("")
garyservin 0:fd24f7ca9688 20 {
garyservin 0:fd24f7ca9688 21 }
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 int offset = 0;
garyservin 0:fd24f7ca9688 26 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 27 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 28 offset += 4;
garyservin 0:fd24f7ca9688 29 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 30 offset += length_name;
garyservin 0:fd24f7ca9688 31 return offset;
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 uint32_t length_name;
garyservin 0:fd24f7ca9688 38 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 39 offset += 4;
garyservin 0:fd24f7ca9688 40 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 41 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 42 }
garyservin 0:fd24f7ca9688 43 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 44 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 45 offset += length_name;
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 const char * getType(){ return KILL; };
garyservin 0:fd24f7ca9688 50 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
garyservin 0:fd24f7ca9688 51
garyservin 0:fd24f7ca9688 52 };
garyservin 0:fd24f7ca9688 53
garyservin 0:fd24f7ca9688 54 class KillResponse : public ros::Msg
garyservin 0:fd24f7ca9688 55 {
garyservin 0:fd24f7ca9688 56 public:
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 KillResponse()
garyservin 0:fd24f7ca9688 59 {
garyservin 0:fd24f7ca9688 60 }
garyservin 0:fd24f7ca9688 61
garyservin 0:fd24f7ca9688 62 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 63 {
garyservin 0:fd24f7ca9688 64 int offset = 0;
garyservin 0:fd24f7ca9688 65 return offset;
garyservin 0:fd24f7ca9688 66 }
garyservin 0:fd24f7ca9688 67
garyservin 0:fd24f7ca9688 68 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 69 {
garyservin 0:fd24f7ca9688 70 int offset = 0;
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 const char * getType(){ return KILL; };
garyservin 0:fd24f7ca9688 75 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 };
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 class Kill {
garyservin 0:fd24f7ca9688 80 public:
garyservin 0:fd24f7ca9688 81 typedef KillRequest Request;
garyservin 0:fd24f7ca9688 82 typedef KillResponse Response;
garyservin 0:fd24f7ca9688 83 };
garyservin 0:fd24f7ca9688 84
garyservin 0:fd24f7ca9688 85 }
garyservin 0:fd24f7ca9688 86 #endif