Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
bond/Status.h@2:5d429be7d0aa, 2020-11-02 (annotated)
- Committer:
- sgrsn
- Date:
- Mon Nov 02 09:00:01 2020 +0000
- Revision:
- 2:5d429be7d0aa
- Parent:
- 0:04ac6be8229a
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_bond_Status_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_bond_Status_h |
Gary Servin |
0:04ac6be8229a | 3 | |
Gary Servin |
0:04ac6be8229a | 4 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 7 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 8 | #include "std_msgs/Header.h" |
Gary Servin |
0:04ac6be8229a | 9 | |
Gary Servin |
0:04ac6be8229a | 10 | namespace bond |
Gary Servin |
0:04ac6be8229a | 11 | { |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | class Status : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 14 | { |
Gary Servin |
0:04ac6be8229a | 15 | public: |
Gary Servin |
0:04ac6be8229a | 16 | typedef std_msgs::Header _header_type; |
Gary Servin |
0:04ac6be8229a | 17 | _header_type header; |
Gary Servin |
0:04ac6be8229a | 18 | typedef const char* _id_type; |
Gary Servin |
0:04ac6be8229a | 19 | _id_type id; |
Gary Servin |
0:04ac6be8229a | 20 | typedef const char* _instance_id_type; |
Gary Servin |
0:04ac6be8229a | 21 | _instance_id_type instance_id; |
Gary Servin |
0:04ac6be8229a | 22 | typedef bool _active_type; |
Gary Servin |
0:04ac6be8229a | 23 | _active_type active; |
Gary Servin |
0:04ac6be8229a | 24 | typedef float _heartbeat_timeout_type; |
Gary Servin |
0:04ac6be8229a | 25 | _heartbeat_timeout_type heartbeat_timeout; |
Gary Servin |
0:04ac6be8229a | 26 | typedef float _heartbeat_period_type; |
Gary Servin |
0:04ac6be8229a | 27 | _heartbeat_period_type heartbeat_period; |
Gary Servin |
0:04ac6be8229a | 28 | |
Gary Servin |
0:04ac6be8229a | 29 | Status(): |
Gary Servin |
0:04ac6be8229a | 30 | header(), |
Gary Servin |
0:04ac6be8229a | 31 | id(""), |
Gary Servin |
0:04ac6be8229a | 32 | instance_id(""), |
Gary Servin |
0:04ac6be8229a | 33 | active(0), |
Gary Servin |
0:04ac6be8229a | 34 | heartbeat_timeout(0), |
Gary Servin |
0:04ac6be8229a | 35 | heartbeat_period(0) |
Gary Servin |
0:04ac6be8229a | 36 | { |
Gary Servin |
0:04ac6be8229a | 37 | } |
Gary Servin |
0:04ac6be8229a | 38 | |
Gary Servin |
0:04ac6be8229a | 39 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 40 | { |
Gary Servin |
0:04ac6be8229a | 41 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 42 | offset += this->header.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 43 | uint32_t length_id = strlen(this->id); |
Gary Servin |
0:04ac6be8229a | 44 | varToArr(outbuffer + offset, length_id); |
Gary Servin |
0:04ac6be8229a | 45 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 46 | memcpy(outbuffer + offset, this->id, length_id); |
Gary Servin |
0:04ac6be8229a | 47 | offset += length_id; |
Gary Servin |
0:04ac6be8229a | 48 | uint32_t length_instance_id = strlen(this->instance_id); |
Gary Servin |
0:04ac6be8229a | 49 | varToArr(outbuffer + offset, length_instance_id); |
Gary Servin |
0:04ac6be8229a | 50 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 51 | memcpy(outbuffer + offset, this->instance_id, length_instance_id); |
Gary Servin |
0:04ac6be8229a | 52 | offset += length_instance_id; |
Gary Servin |
0:04ac6be8229a | 53 | union { |
Gary Servin |
0:04ac6be8229a | 54 | bool real; |
Gary Servin |
0:04ac6be8229a | 55 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 56 | } u_active; |
Gary Servin |
0:04ac6be8229a | 57 | u_active.real = this->active; |
Gary Servin |
0:04ac6be8229a | 58 | *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 59 | offset += sizeof(this->active); |
Gary Servin |
0:04ac6be8229a | 60 | union { |
Gary Servin |
0:04ac6be8229a | 61 | float real; |
Gary Servin |
0:04ac6be8229a | 62 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 63 | } u_heartbeat_timeout; |
Gary Servin |
0:04ac6be8229a | 64 | u_heartbeat_timeout.real = this->heartbeat_timeout; |
Gary Servin |
0:04ac6be8229a | 65 | *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 66 | *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 67 | *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 68 | *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 69 | offset += sizeof(this->heartbeat_timeout); |
Gary Servin |
0:04ac6be8229a | 70 | union { |
Gary Servin |
0:04ac6be8229a | 71 | float real; |
Gary Servin |
0:04ac6be8229a | 72 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 73 | } u_heartbeat_period; |
Gary Servin |
0:04ac6be8229a | 74 | u_heartbeat_period.real = this->heartbeat_period; |
Gary Servin |
0:04ac6be8229a | 75 | *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 77 | *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 78 | *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 79 | offset += sizeof(this->heartbeat_period); |
Gary Servin |
0:04ac6be8229a | 80 | return offset; |
Gary Servin |
0:04ac6be8229a | 81 | } |
Gary Servin |
0:04ac6be8229a | 82 | |
Gary Servin |
0:04ac6be8229a | 83 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 84 | { |
Gary Servin |
0:04ac6be8229a | 85 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 86 | offset += this->header.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 87 | uint32_t length_id; |
Gary Servin |
0:04ac6be8229a | 88 | arrToVar(length_id, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 89 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 90 | for(unsigned int k= offset; k< offset+length_id; ++k){ |
Gary Servin |
0:04ac6be8229a | 91 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 92 | } |
Gary Servin |
0:04ac6be8229a | 93 | inbuffer[offset+length_id-1]=0; |
Gary Servin |
0:04ac6be8229a | 94 | this->id = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 95 | offset += length_id; |
Gary Servin |
0:04ac6be8229a | 96 | uint32_t length_instance_id; |
Gary Servin |
0:04ac6be8229a | 97 | arrToVar(length_instance_id, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 98 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 99 | for(unsigned int k= offset; k< offset+length_instance_id; ++k){ |
Gary Servin |
0:04ac6be8229a | 100 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 101 | } |
Gary Servin |
0:04ac6be8229a | 102 | inbuffer[offset+length_instance_id-1]=0; |
Gary Servin |
0:04ac6be8229a | 103 | this->instance_id = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 104 | offset += length_instance_id; |
Gary Servin |
0:04ac6be8229a | 105 | union { |
Gary Servin |
0:04ac6be8229a | 106 | bool real; |
Gary Servin |
0:04ac6be8229a | 107 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 108 | } u_active; |
Gary Servin |
0:04ac6be8229a | 109 | u_active.base = 0; |
Gary Servin |
0:04ac6be8229a | 110 | u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 111 | this->active = u_active.real; |
Gary Servin |
0:04ac6be8229a | 112 | offset += sizeof(this->active); |
Gary Servin |
0:04ac6be8229a | 113 | union { |
Gary Servin |
0:04ac6be8229a | 114 | float real; |
Gary Servin |
0:04ac6be8229a | 115 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 116 | } u_heartbeat_timeout; |
Gary Servin |
0:04ac6be8229a | 117 | u_heartbeat_timeout.base = 0; |
Gary Servin |
0:04ac6be8229a | 118 | u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 119 | u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 120 | u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 121 | u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 122 | this->heartbeat_timeout = u_heartbeat_timeout.real; |
Gary Servin |
0:04ac6be8229a | 123 | offset += sizeof(this->heartbeat_timeout); |
Gary Servin |
0:04ac6be8229a | 124 | union { |
Gary Servin |
0:04ac6be8229a | 125 | float real; |
Gary Servin |
0:04ac6be8229a | 126 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 127 | } u_heartbeat_period; |
Gary Servin |
0:04ac6be8229a | 128 | u_heartbeat_period.base = 0; |
Gary Servin |
0:04ac6be8229a | 129 | u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 130 | u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 131 | u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 132 | u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 133 | this->heartbeat_period = u_heartbeat_period.real; |
Gary Servin |
0:04ac6be8229a | 134 | offset += sizeof(this->heartbeat_period); |
Gary Servin |
0:04ac6be8229a | 135 | return offset; |
Gary Servin |
0:04ac6be8229a | 136 | } |
Gary Servin |
0:04ac6be8229a | 137 | |
Gary Servin |
0:04ac6be8229a | 138 | const char * getType(){ return "bond/Status"; }; |
Gary Servin |
0:04ac6be8229a | 139 | const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; }; |
Gary Servin |
0:04ac6be8229a | 140 | |
Gary Servin |
0:04ac6be8229a | 141 | }; |
Gary Servin |
0:04ac6be8229a | 142 | |
Gary Servin |
0:04ac6be8229a | 143 | } |
Gary Servin |
0:04ac6be8229a | 144 | #endif |