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/Spawn.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_Spawn_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_Spawn_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 SPAWN[] = "turtlesim/Spawn";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class SpawnRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 float x;
garyservin 0:fd24f7ca9688 17 float y;
garyservin 0:fd24f7ca9688 18 float theta;
garyservin 0:fd24f7ca9688 19 const char* name;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 SpawnRequest():
garyservin 0:fd24f7ca9688 22 x(0),
garyservin 0:fd24f7ca9688 23 y(0),
garyservin 0:fd24f7ca9688 24 theta(0),
garyservin 0:fd24f7ca9688 25 name("")
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 }
garyservin 0:fd24f7ca9688 28
garyservin 0:fd24f7ca9688 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 int offset = 0;
garyservin 0:fd24f7ca9688 32 union {
garyservin 0:fd24f7ca9688 33 float real;
garyservin 0:fd24f7ca9688 34 uint32_t base;
garyservin 0:fd24f7ca9688 35 } u_x;
garyservin 0:fd24f7ca9688 36 u_x.real = this->x;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 41 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 42 union {
garyservin 0:fd24f7ca9688 43 float real;
garyservin 0:fd24f7ca9688 44 uint32_t base;
garyservin 0:fd24f7ca9688 45 } u_y;
garyservin 0:fd24f7ca9688 46 u_y.real = this->y;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 51 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 52 union {
garyservin 0:fd24f7ca9688 53 float real;
garyservin 0:fd24f7ca9688 54 uint32_t base;
garyservin 0:fd24f7ca9688 55 } u_theta;
garyservin 0:fd24f7ca9688 56 u_theta.real = this->theta;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 61 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 62 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 63 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 64 offset += 4;
garyservin 0:fd24f7ca9688 65 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 66 offset += length_name;
garyservin 0:fd24f7ca9688 67 return offset;
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69
garyservin 0:fd24f7ca9688 70 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 71 {
garyservin 0:fd24f7ca9688 72 int offset = 0;
garyservin 0:fd24f7ca9688 73 union {
garyservin 0:fd24f7ca9688 74 float real;
garyservin 0:fd24f7ca9688 75 uint32_t base;
garyservin 0:fd24f7ca9688 76 } u_x;
garyservin 0:fd24f7ca9688 77 u_x.base = 0;
garyservin 0:fd24f7ca9688 78 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 79 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 80 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 81 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 82 this->x = u_x.real;
garyservin 0:fd24f7ca9688 83 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 84 union {
garyservin 0:fd24f7ca9688 85 float real;
garyservin 0:fd24f7ca9688 86 uint32_t base;
garyservin 0:fd24f7ca9688 87 } u_y;
garyservin 0:fd24f7ca9688 88 u_y.base = 0;
garyservin 0:fd24f7ca9688 89 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 90 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 91 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 92 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 93 this->y = u_y.real;
garyservin 0:fd24f7ca9688 94 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 95 union {
garyservin 0:fd24f7ca9688 96 float real;
garyservin 0:fd24f7ca9688 97 uint32_t base;
garyservin 0:fd24f7ca9688 98 } u_theta;
garyservin 0:fd24f7ca9688 99 u_theta.base = 0;
garyservin 0:fd24f7ca9688 100 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 101 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 102 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 103 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 104 this->theta = u_theta.real;
garyservin 0:fd24f7ca9688 105 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 106 uint32_t length_name;
garyservin 0:fd24f7ca9688 107 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 108 offset += 4;
garyservin 0:fd24f7ca9688 109 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 110 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 111 }
garyservin 0:fd24f7ca9688 112 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 113 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 114 offset += length_name;
garyservin 0:fd24f7ca9688 115 return offset;
garyservin 0:fd24f7ca9688 116 }
garyservin 0:fd24f7ca9688 117
garyservin 0:fd24f7ca9688 118 const char * getType(){ return SPAWN; };
garyservin 0:fd24f7ca9688 119 const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
garyservin 0:fd24f7ca9688 120
garyservin 0:fd24f7ca9688 121 };
garyservin 0:fd24f7ca9688 122
garyservin 0:fd24f7ca9688 123 class SpawnResponse : public ros::Msg
garyservin 0:fd24f7ca9688 124 {
garyservin 0:fd24f7ca9688 125 public:
garyservin 0:fd24f7ca9688 126 const char* name;
garyservin 0:fd24f7ca9688 127
garyservin 0:fd24f7ca9688 128 SpawnResponse():
garyservin 0:fd24f7ca9688 129 name("")
garyservin 0:fd24f7ca9688 130 {
garyservin 0:fd24f7ca9688 131 }
garyservin 0:fd24f7ca9688 132
garyservin 0:fd24f7ca9688 133 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 134 {
garyservin 0:fd24f7ca9688 135 int offset = 0;
garyservin 0:fd24f7ca9688 136 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 137 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 138 offset += 4;
garyservin 0:fd24f7ca9688 139 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 140 offset += length_name;
garyservin 0:fd24f7ca9688 141 return offset;
garyservin 0:fd24f7ca9688 142 }
garyservin 0:fd24f7ca9688 143
garyservin 0:fd24f7ca9688 144 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 145 {
garyservin 0:fd24f7ca9688 146 int offset = 0;
garyservin 0:fd24f7ca9688 147 uint32_t length_name;
garyservin 0:fd24f7ca9688 148 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 149 offset += 4;
garyservin 0:fd24f7ca9688 150 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 151 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 152 }
garyservin 0:fd24f7ca9688 153 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 154 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 155 offset += length_name;
garyservin 0:fd24f7ca9688 156 return offset;
garyservin 0:fd24f7ca9688 157 }
garyservin 0:fd24f7ca9688 158
garyservin 0:fd24f7ca9688 159 const char * getType(){ return SPAWN; };
garyservin 0:fd24f7ca9688 160 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
garyservin 0:fd24f7ca9688 161
garyservin 0:fd24f7ca9688 162 };
garyservin 0:fd24f7ca9688 163
garyservin 0:fd24f7ca9688 164 class Spawn {
garyservin 0:fd24f7ca9688 165 public:
garyservin 0:fd24f7ca9688 166 typedef SpawnRequest Request;
garyservin 0:fd24f7ca9688 167 typedef SpawnResponse Response;
garyservin 0:fd24f7ca9688 168 };
garyservin 0:fd24f7ca9688 169
garyservin 0:fd24f7ca9688 170 }
garyservin 0:fd24f7ca9688 171 #endif