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/TeleportAbsolute.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_TeleportAbsolute_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_TeleportAbsolute_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 TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class TeleportAbsoluteRequest : 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
garyservin 0:fd24f7ca9688 20 TeleportAbsoluteRequest():
garyservin 0:fd24f7ca9688 21 x(0),
garyservin 0:fd24f7ca9688 22 y(0),
garyservin 0:fd24f7ca9688 23 theta(0)
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 union {
garyservin 0:fd24f7ca9688 31 float real;
garyservin 0:fd24f7ca9688 32 uint32_t base;
garyservin 0:fd24f7ca9688 33 } u_x;
garyservin 0:fd24f7ca9688 34 u_x.real = this->x;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 39 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 40 union {
garyservin 0:fd24f7ca9688 41 float real;
garyservin 0:fd24f7ca9688 42 uint32_t base;
garyservin 0:fd24f7ca9688 43 } u_y;
garyservin 0:fd24f7ca9688 44 u_y.real = this->y;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 50 union {
garyservin 0:fd24f7ca9688 51 float real;
garyservin 0:fd24f7ca9688 52 uint32_t base;
garyservin 0:fd24f7ca9688 53 } u_theta;
garyservin 0:fd24f7ca9688 54 u_theta.real = this->theta;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 59 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 60 return offset;
garyservin 0:fd24f7ca9688 61 }
garyservin 0:fd24f7ca9688 62
garyservin 0:fd24f7ca9688 63 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 64 {
garyservin 0:fd24f7ca9688 65 int offset = 0;
garyservin 0:fd24f7ca9688 66 union {
garyservin 0:fd24f7ca9688 67 float real;
garyservin 0:fd24f7ca9688 68 uint32_t base;
garyservin 0:fd24f7ca9688 69 } u_x;
garyservin 0:fd24f7ca9688 70 u_x.base = 0;
garyservin 0:fd24f7ca9688 71 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 72 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 73 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 74 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 75 this->x = u_x.real;
garyservin 0:fd24f7ca9688 76 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 77 union {
garyservin 0:fd24f7ca9688 78 float real;
garyservin 0:fd24f7ca9688 79 uint32_t base;
garyservin 0:fd24f7ca9688 80 } u_y;
garyservin 0:fd24f7ca9688 81 u_y.base = 0;
garyservin 0:fd24f7ca9688 82 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 83 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 84 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 85 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 86 this->y = u_y.real;
garyservin 0:fd24f7ca9688 87 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 88 union {
garyservin 0:fd24f7ca9688 89 float real;
garyservin 0:fd24f7ca9688 90 uint32_t base;
garyservin 0:fd24f7ca9688 91 } u_theta;
garyservin 0:fd24f7ca9688 92 u_theta.base = 0;
garyservin 0:fd24f7ca9688 93 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 94 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 95 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 96 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 97 this->theta = u_theta.real;
garyservin 0:fd24f7ca9688 98 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 99 return offset;
garyservin 0:fd24f7ca9688 100 }
garyservin 0:fd24f7ca9688 101
garyservin 0:fd24f7ca9688 102 const char * getType(){ return TELEPORTABSOLUTE; };
garyservin 0:fd24f7ca9688 103 const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
garyservin 0:fd24f7ca9688 104
garyservin 0:fd24f7ca9688 105 };
garyservin 0:fd24f7ca9688 106
garyservin 0:fd24f7ca9688 107 class TeleportAbsoluteResponse : public ros::Msg
garyservin 0:fd24f7ca9688 108 {
garyservin 0:fd24f7ca9688 109 public:
garyservin 0:fd24f7ca9688 110
garyservin 0:fd24f7ca9688 111 TeleportAbsoluteResponse()
garyservin 0:fd24f7ca9688 112 {
garyservin 0:fd24f7ca9688 113 }
garyservin 0:fd24f7ca9688 114
garyservin 0:fd24f7ca9688 115 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 116 {
garyservin 0:fd24f7ca9688 117 int offset = 0;
garyservin 0:fd24f7ca9688 118 return offset;
garyservin 0:fd24f7ca9688 119 }
garyservin 0:fd24f7ca9688 120
garyservin 0:fd24f7ca9688 121 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 122 {
garyservin 0:fd24f7ca9688 123 int offset = 0;
garyservin 0:fd24f7ca9688 124 return offset;
garyservin 0:fd24f7ca9688 125 }
garyservin 0:fd24f7ca9688 126
garyservin 0:fd24f7ca9688 127 const char * getType(){ return TELEPORTABSOLUTE; };
garyservin 0:fd24f7ca9688 128 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 129
garyservin 0:fd24f7ca9688 130 };
garyservin 0:fd24f7ca9688 131
garyservin 0:fd24f7ca9688 132 class TeleportAbsolute {
garyservin 0:fd24f7ca9688 133 public:
garyservin 0:fd24f7ca9688 134 typedef TeleportAbsoluteRequest Request;
garyservin 0:fd24f7ca9688 135 typedef TeleportAbsoluteResponse Response;
garyservin 0:fd24f7ca9688 136 };
garyservin 0:fd24f7ca9688 137
garyservin 0:fd24f7ca9688 138 }
garyservin 0:fd24f7ca9688 139 #endif