nothing.
Diff: turtlesim/Spawn.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 turtlesim/Spawn.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/turtlesim/Spawn.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,176 @@ +#ifndef _ROS_SERVICE_Spawn_h +#define _ROS_SERVICE_Spawn_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace turtlesim +{ + +static const char SPAWN[] = "turtlesim/Spawn"; + + class SpawnRequest : public ros::Msg + { + public: + typedef float _x_type; + _x_type x; + typedef float _y_type; + _y_type y; + typedef float _theta_type; + _theta_type theta; + typedef const char* _name_type; + _name_type name; + + SpawnRequest(): + x(0), + y(0), + theta(0), + name("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + float real; + uint32_t base; + } u_x; + u_x.real = this->x; + *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->x); + union { + float real; + uint32_t base; + } u_y; + u_y.real = this->y; + *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->y); + union { + float real; + uint32_t base; + } u_theta; + u_theta.real = this->theta; + *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->theta); + uint32_t length_name = strlen(this->name); + varToArr(outbuffer + offset, length_name); + offset += 4; + memcpy(outbuffer + offset, this->name, length_name); + offset += length_name; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + float real; + uint32_t base; + } u_x; + u_x.base = 0; + u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->x = u_x.real; + offset += sizeof(this->x); + union { + float real; + uint32_t base; + } u_y; + u_y.base = 0; + u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->y = u_y.real; + offset += sizeof(this->y); + union { + float real; + uint32_t base; + } u_theta; + u_theta.base = 0; + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->theta = u_theta.real; + offset += sizeof(this->theta); + uint32_t length_name; + arrToVar(length_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + return offset; + } + + const char * getType(){ return SPAWN; }; + const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; }; + + }; + + class SpawnResponse : public ros::Msg + { + public: + typedef const char* _name_type; + _name_type name; + + SpawnResponse(): + name("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_name = strlen(this->name); + varToArr(outbuffer + offset, length_name); + offset += 4; + memcpy(outbuffer + offset, this->name, length_name); + offset += length_name; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_name; + arrToVar(length_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + return offset; + } + + const char * getType(){ return SPAWN; }; + const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; + + }; + + class Spawn { + public: + typedef SpawnRequest Request; + typedef SpawnResponse Response; + }; + +} +#endif