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/HardwareInterfaceResources.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_HardwareInterfaceResources_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_controller_manager_msgs_HardwareInterfaceResources_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
Gary Servin 0:04ac6be8229a 9 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class HardwareInterfaceResources : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _hardware_interface_type;
Gary Servin 0:04ac6be8229a 16 _hardware_interface_type hardware_interface;
Gary Servin 0:04ac6be8229a 17 uint32_t resources_length;
Gary Servin 0:04ac6be8229a 18 typedef char* _resources_type;
Gary Servin 0:04ac6be8229a 19 _resources_type st_resources;
Gary Servin 0:04ac6be8229a 20 _resources_type * resources;
Gary Servin 0:04ac6be8229a 21
Gary Servin 0:04ac6be8229a 22 HardwareInterfaceResources():
Gary Servin 0:04ac6be8229a 23 hardware_interface(""),
Gary Servin 0:04ac6be8229a 24 resources_length(0), resources(NULL)
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 }
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 int offset = 0;
Gary Servin 0:04ac6be8229a 31 uint32_t length_hardware_interface = strlen(this->hardware_interface);
Gary Servin 0:04ac6be8229a 32 varToArr(outbuffer + offset, length_hardware_interface);
Gary Servin 0:04ac6be8229a 33 offset += 4;
Gary Servin 0:04ac6be8229a 34 memcpy(outbuffer + offset, this->hardware_interface, length_hardware_interface);
Gary Servin 0:04ac6be8229a 35 offset += length_hardware_interface;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 0) = (this->resources_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 1) = (this->resources_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 2) = (this->resources_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 3) = (this->resources_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 offset += sizeof(this->resources_length);
Gary Servin 0:04ac6be8229a 41 for( uint32_t i = 0; i < resources_length; i++){
Gary Servin 0:04ac6be8229a 42 uint32_t length_resourcesi = strlen(this->resources[i]);
Gary Servin 0:04ac6be8229a 43 varToArr(outbuffer + offset, length_resourcesi);
Gary Servin 0:04ac6be8229a 44 offset += 4;
Gary Servin 0:04ac6be8229a 45 memcpy(outbuffer + offset, this->resources[i], length_resourcesi);
Gary Servin 0:04ac6be8229a 46 offset += length_resourcesi;
Gary Servin 0:04ac6be8229a 47 }
Gary Servin 0:04ac6be8229a 48 return offset;
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50
Gary Servin 0:04ac6be8229a 51 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 52 {
Gary Servin 0:04ac6be8229a 53 int offset = 0;
Gary Servin 0:04ac6be8229a 54 uint32_t length_hardware_interface;
Gary Servin 0:04ac6be8229a 55 arrToVar(length_hardware_interface, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 56 offset += 4;
Gary Servin 0:04ac6be8229a 57 for(unsigned int k= offset; k< offset+length_hardware_interface; ++k){
Gary Servin 0:04ac6be8229a 58 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60 inbuffer[offset+length_hardware_interface-1]=0;
Gary Servin 0:04ac6be8229a 61 this->hardware_interface = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 62 offset += length_hardware_interface;
Gary Servin 0:04ac6be8229a 63 uint32_t resources_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 64 resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 65 resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 66 resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->resources_length);
Gary Servin 0:04ac6be8229a 68 if(resources_lengthT > resources_length)
Gary Servin 0:04ac6be8229a 69 this->resources = (char**)realloc(this->resources, resources_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 70 resources_length = resources_lengthT;
Gary Servin 0:04ac6be8229a 71 for( uint32_t i = 0; i < resources_length; i++){
Gary Servin 0:04ac6be8229a 72 uint32_t length_st_resources;
Gary Servin 0:04ac6be8229a 73 arrToVar(length_st_resources, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 74 offset += 4;
Gary Servin 0:04ac6be8229a 75 for(unsigned int k= offset; k< offset+length_st_resources; ++k){
Gary Servin 0:04ac6be8229a 76 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 77 }
Gary Servin 0:04ac6be8229a 78 inbuffer[offset+length_st_resources-1]=0;
Gary Servin 0:04ac6be8229a 79 this->st_resources = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 80 offset += length_st_resources;
Gary Servin 0:04ac6be8229a 81 memcpy( &(this->resources[i]), &(this->st_resources), sizeof(char*));
Gary Servin 0:04ac6be8229a 82 }
Gary Servin 0:04ac6be8229a 83 return offset;
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 const char * getType(){ return "controller_manager_msgs/HardwareInterfaceResources"; };
Gary Servin 0:04ac6be8229a 87 const char * getMD5(){ return "f25b55cbf1d1f76e82e5ec9e83f76258"; };
Gary Servin 0:04ac6be8229a 88
Gary Servin 0:04ac6be8229a 89 };
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92 #endif