hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

controller_manager_msgs/ControllersStatistics.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?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_controller_manager_msgs_ControllersStatistics_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_controller_manager_msgs_ControllersStatistics_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 #include "controller_manager_msgs/ControllerStatistics.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class ControllersStatistics : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 18 _header_type header;
Gary Servin 0:04ac6be8229a 19 uint32_t controller_length;
Gary Servin 0:04ac6be8229a 20 typedef controller_manager_msgs::ControllerStatistics _controller_type;
Gary Servin 0:04ac6be8229a 21 _controller_type st_controller;
Gary Servin 0:04ac6be8229a 22 _controller_type * controller;
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 ControllersStatistics():
Gary Servin 0:04ac6be8229a 25 header(),
Gary Servin 0:04ac6be8229a 26 controller_length(0), controller(NULL)
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 }
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 int offset = 0;
Gary Servin 0:04ac6be8229a 33 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 0) = (this->controller_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 1) = (this->controller_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 2) = (this->controller_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 3) = (this->controller_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 offset += sizeof(this->controller_length);
Gary Servin 0:04ac6be8229a 39 for( uint32_t i = 0; i < controller_length; i++){
Gary Servin 0:04ac6be8229a 40 offset += this->controller[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 41 }
Gary Servin 0:04ac6be8229a 42 return offset;
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44
Gary Servin 0:04ac6be8229a 45 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 46 {
Gary Servin 0:04ac6be8229a 47 int offset = 0;
Gary Servin 0:04ac6be8229a 48 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 49 uint32_t controller_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 50 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 51 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 52 controller_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 53 offset += sizeof(this->controller_length);
Gary Servin 0:04ac6be8229a 54 if(controller_lengthT > controller_length)
Gary Servin 0:04ac6be8229a 55 this->controller = (controller_manager_msgs::ControllerStatistics*)realloc(this->controller, controller_lengthT * sizeof(controller_manager_msgs::ControllerStatistics));
Gary Servin 0:04ac6be8229a 56 controller_length = controller_lengthT;
Gary Servin 0:04ac6be8229a 57 for( uint32_t i = 0; i < controller_length; i++){
Gary Servin 0:04ac6be8229a 58 offset += this->st_controller.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 59 memcpy( &(this->controller[i]), &(this->st_controller), sizeof(controller_manager_msgs::ControllerStatistics));
Gary Servin 0:04ac6be8229a 60 }
Gary Servin 0:04ac6be8229a 61 return offset;
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63
Gary Servin 0:04ac6be8229a 64 const char * getType(){ return "controller_manager_msgs/ControllersStatistics"; };
Gary Servin 0:04ac6be8229a 65 const char * getMD5(){ return "a154c347736773e3700d1719105df29d"; };
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 };
Gary Servin 0:04ac6be8229a 68
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70 #endif