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/ListControllerTypes.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_SERVICE_ListControllerTypes_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_ListControllerTypes_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7
Gary Servin 0:04ac6be8229a 8 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char LISTCONTROLLERTYPES[] = "controller_manager_msgs/ListControllerTypes";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class ListControllerTypesRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16
Gary Servin 0:04ac6be8229a 17 ListControllerTypesRequest()
Gary Servin 0:04ac6be8229a 18 {
Gary Servin 0:04ac6be8229a 19 }
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 22 {
Gary Servin 0:04ac6be8229a 23 int offset = 0;
Gary Servin 0:04ac6be8229a 24 return offset;
Gary Servin 0:04ac6be8229a 25 }
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 28 {
Gary Servin 0:04ac6be8229a 29 int offset = 0;
Gary Servin 0:04ac6be8229a 30 return offset;
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 const char * getType(){ return LISTCONTROLLERTYPES; };
Gary Servin 0:04ac6be8229a 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 35
Gary Servin 0:04ac6be8229a 36 };
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 class ListControllerTypesResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 public:
Gary Servin 0:04ac6be8229a 41 uint32_t types_length;
Gary Servin 0:04ac6be8229a 42 typedef char* _types_type;
Gary Servin 0:04ac6be8229a 43 _types_type st_types;
Gary Servin 0:04ac6be8229a 44 _types_type * types;
Gary Servin 0:04ac6be8229a 45 uint32_t base_classes_length;
Gary Servin 0:04ac6be8229a 46 typedef char* _base_classes_type;
Gary Servin 0:04ac6be8229a 47 _base_classes_type st_base_classes;
Gary Servin 0:04ac6be8229a 48 _base_classes_type * base_classes;
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 ListControllerTypesResponse():
Gary Servin 0:04ac6be8229a 51 types_length(0), types(NULL),
Gary Servin 0:04ac6be8229a 52 base_classes_length(0), base_classes(NULL)
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 57 {
Gary Servin 0:04ac6be8229a 58 int offset = 0;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 0) = (this->types_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 1) = (this->types_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 2) = (this->types_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 3) = (this->types_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 offset += sizeof(this->types_length);
Gary Servin 0:04ac6be8229a 64 for( uint32_t i = 0; i < types_length; i++){
Gary Servin 0:04ac6be8229a 65 uint32_t length_typesi = strlen(this->types[i]);
Gary Servin 0:04ac6be8229a 66 varToArr(outbuffer + offset, length_typesi);
Gary Servin 0:04ac6be8229a 67 offset += 4;
Gary Servin 0:04ac6be8229a 68 memcpy(outbuffer + offset, this->types[i], length_typesi);
Gary Servin 0:04ac6be8229a 69 offset += length_typesi;
Gary Servin 0:04ac6be8229a 70 }
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 0) = (this->base_classes_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 1) = (this->base_classes_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 2) = (this->base_classes_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 3) = (this->base_classes_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 offset += sizeof(this->base_classes_length);
Gary Servin 0:04ac6be8229a 76 for( uint32_t i = 0; i < base_classes_length; i++){
Gary Servin 0:04ac6be8229a 77 uint32_t length_base_classesi = strlen(this->base_classes[i]);
Gary Servin 0:04ac6be8229a 78 varToArr(outbuffer + offset, length_base_classesi);
Gary Servin 0:04ac6be8229a 79 offset += 4;
Gary Servin 0:04ac6be8229a 80 memcpy(outbuffer + offset, this->base_classes[i], length_base_classesi);
Gary Servin 0:04ac6be8229a 81 offset += length_base_classesi;
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 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 87 {
Gary Servin 0:04ac6be8229a 88 int offset = 0;
Gary Servin 0:04ac6be8229a 89 uint32_t types_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 90 types_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 91 types_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 92 types_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 93 offset += sizeof(this->types_length);
Gary Servin 0:04ac6be8229a 94 if(types_lengthT > types_length)
Gary Servin 0:04ac6be8229a 95 this->types = (char**)realloc(this->types, types_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 96 types_length = types_lengthT;
Gary Servin 0:04ac6be8229a 97 for( uint32_t i = 0; i < types_length; i++){
Gary Servin 0:04ac6be8229a 98 uint32_t length_st_types;
Gary Servin 0:04ac6be8229a 99 arrToVar(length_st_types, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 100 offset += 4;
Gary Servin 0:04ac6be8229a 101 for(unsigned int k= offset; k< offset+length_st_types; ++k){
Gary Servin 0:04ac6be8229a 102 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104 inbuffer[offset+length_st_types-1]=0;
Gary Servin 0:04ac6be8229a 105 this->st_types = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 106 offset += length_st_types;
Gary Servin 0:04ac6be8229a 107 memcpy( &(this->types[i]), &(this->st_types), sizeof(char*));
Gary Servin 0:04ac6be8229a 108 }
Gary Servin 0:04ac6be8229a 109 uint32_t base_classes_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 110 base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 111 base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 112 base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 113 offset += sizeof(this->base_classes_length);
Gary Servin 0:04ac6be8229a 114 if(base_classes_lengthT > base_classes_length)
Gary Servin 0:04ac6be8229a 115 this->base_classes = (char**)realloc(this->base_classes, base_classes_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 116 base_classes_length = base_classes_lengthT;
Gary Servin 0:04ac6be8229a 117 for( uint32_t i = 0; i < base_classes_length; i++){
Gary Servin 0:04ac6be8229a 118 uint32_t length_st_base_classes;
Gary Servin 0:04ac6be8229a 119 arrToVar(length_st_base_classes, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 120 offset += 4;
Gary Servin 0:04ac6be8229a 121 for(unsigned int k= offset; k< offset+length_st_base_classes; ++k){
Gary Servin 0:04ac6be8229a 122 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 123 }
Gary Servin 0:04ac6be8229a 124 inbuffer[offset+length_st_base_classes-1]=0;
Gary Servin 0:04ac6be8229a 125 this->st_base_classes = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 126 offset += length_st_base_classes;
Gary Servin 0:04ac6be8229a 127 memcpy( &(this->base_classes[i]), &(this->st_base_classes), sizeof(char*));
Gary Servin 0:04ac6be8229a 128 }
Gary Servin 0:04ac6be8229a 129 return offset;
Gary Servin 0:04ac6be8229a 130 }
Gary Servin 0:04ac6be8229a 131
Gary Servin 0:04ac6be8229a 132 const char * getType(){ return LISTCONTROLLERTYPES; };
Gary Servin 0:04ac6be8229a 133 const char * getMD5(){ return "c1d4cd11aefa9f97ba4aeb5b33987f4e"; };
Gary Servin 0:04ac6be8229a 134
Gary Servin 0:04ac6be8229a 135 };
Gary Servin 0:04ac6be8229a 136
Gary Servin 0:04ac6be8229a 137 class ListControllerTypes {
Gary Servin 0:04ac6be8229a 138 public:
Gary Servin 0:04ac6be8229a 139 typedef ListControllerTypesRequest Request;
Gary Servin 0:04ac6be8229a 140 typedef ListControllerTypesResponse Response;
Gary Servin 0:04ac6be8229a 141 };
Gary Servin 0:04ac6be8229a 142
Gary Servin 0:04ac6be8229a 143 }
Gary Servin 0:04ac6be8229a 144 #endif