Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
roscpp_tutorials/TwoInts.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_SERVICE_TwoInts_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_SERVICE_TwoInts_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 roscpp_tutorials |
Gary Servin |
0:04ac6be8229a | 9 | { |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | static const char TWOINTS[] = "roscpp_tutorials/TwoInts"; |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | class TwoIntsRequest : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 14 | { |
Gary Servin |
0:04ac6be8229a | 15 | public: |
Gary Servin |
0:04ac6be8229a | 16 | typedef int64_t _a_type; |
Gary Servin |
0:04ac6be8229a | 17 | _a_type a; |
Gary Servin |
0:04ac6be8229a | 18 | typedef int64_t _b_type; |
Gary Servin |
0:04ac6be8229a | 19 | _b_type b; |
Gary Servin |
0:04ac6be8229a | 20 | |
Gary Servin |
0:04ac6be8229a | 21 | TwoIntsRequest(): |
Gary Servin |
0:04ac6be8229a | 22 | a(0), |
Gary Servin |
0:04ac6be8229a | 23 | b(0) |
Gary Servin |
0:04ac6be8229a | 24 | { |
Gary Servin |
0:04ac6be8229a | 25 | } |
Gary Servin |
0:04ac6be8229a | 26 | |
Gary Servin |
0:04ac6be8229a | 27 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 28 | { |
Gary Servin |
0:04ac6be8229a | 29 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 30 | union { |
Gary Servin |
0:04ac6be8229a | 31 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 32 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 33 | } u_a; |
Gary Servin |
0:04ac6be8229a | 34 | u_a.real = this->a; |
Gary Servin |
0:04ac6be8229a | 35 | *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 36 | *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 37 | *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 38 | *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 39 | *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 40 | *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 41 | *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 42 | *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 43 | offset += sizeof(this->a); |
Gary Servin |
0:04ac6be8229a | 44 | union { |
Gary Servin |
0:04ac6be8229a | 45 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 46 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 47 | } u_b; |
Gary Servin |
0:04ac6be8229a | 48 | u_b.real = this->b; |
Gary Servin |
0:04ac6be8229a | 49 | *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 50 | *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 51 | *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 52 | *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 53 | *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 54 | *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 55 | *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 56 | *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 57 | offset += sizeof(this->b); |
Gary Servin |
0:04ac6be8229a | 58 | return offset; |
Gary Servin |
0:04ac6be8229a | 59 | } |
Gary Servin |
0:04ac6be8229a | 60 | |
Gary Servin |
0:04ac6be8229a | 61 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 62 | { |
Gary Servin |
0:04ac6be8229a | 63 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 64 | union { |
Gary Servin |
0:04ac6be8229a | 65 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 66 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 67 | } u_a; |
Gary Servin |
0:04ac6be8229a | 68 | u_a.base = 0; |
Gary Servin |
0:04ac6be8229a | 69 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 70 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 71 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 72 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 73 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 74 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 75 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 76 | u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 77 | this->a = u_a.real; |
Gary Servin |
0:04ac6be8229a | 78 | offset += sizeof(this->a); |
Gary Servin |
0:04ac6be8229a | 79 | union { |
Gary Servin |
0:04ac6be8229a | 80 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 81 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 82 | } u_b; |
Gary Servin |
0:04ac6be8229a | 83 | u_b.base = 0; |
Gary Servin |
0:04ac6be8229a | 84 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 85 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 86 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 87 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 88 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 89 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 90 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 91 | u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 92 | this->b = u_b.real; |
Gary Servin |
0:04ac6be8229a | 93 | offset += sizeof(this->b); |
Gary Servin |
0:04ac6be8229a | 94 | return offset; |
Gary Servin |
0:04ac6be8229a | 95 | } |
Gary Servin |
0:04ac6be8229a | 96 | |
Gary Servin |
0:04ac6be8229a | 97 | const char * getType(){ return TWOINTS; }; |
Gary Servin |
0:04ac6be8229a | 98 | const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; }; |
Gary Servin |
0:04ac6be8229a | 99 | |
Gary Servin |
0:04ac6be8229a | 100 | }; |
Gary Servin |
0:04ac6be8229a | 101 | |
Gary Servin |
0:04ac6be8229a | 102 | class TwoIntsResponse : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 103 | { |
Gary Servin |
0:04ac6be8229a | 104 | public: |
Gary Servin |
0:04ac6be8229a | 105 | typedef int64_t _sum_type; |
Gary Servin |
0:04ac6be8229a | 106 | _sum_type sum; |
Gary Servin |
0:04ac6be8229a | 107 | |
Gary Servin |
0:04ac6be8229a | 108 | TwoIntsResponse(): |
Gary Servin |
0:04ac6be8229a | 109 | sum(0) |
Gary Servin |
0:04ac6be8229a | 110 | { |
Gary Servin |
0:04ac6be8229a | 111 | } |
Gary Servin |
0:04ac6be8229a | 112 | |
Gary Servin |
0:04ac6be8229a | 113 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 114 | { |
Gary Servin |
0:04ac6be8229a | 115 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 116 | union { |
Gary Servin |
0:04ac6be8229a | 117 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 118 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 119 | } u_sum; |
Gary Servin |
0:04ac6be8229a | 120 | u_sum.real = this->sum; |
Gary Servin |
0:04ac6be8229a | 121 | *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 122 | *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 123 | *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 124 | *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 125 | *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 126 | *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 127 | *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 128 | *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 129 | offset += sizeof(this->sum); |
Gary Servin |
0:04ac6be8229a | 130 | return offset; |
Gary Servin |
0:04ac6be8229a | 131 | } |
Gary Servin |
0:04ac6be8229a | 132 | |
Gary Servin |
0:04ac6be8229a | 133 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 134 | { |
Gary Servin |
0:04ac6be8229a | 135 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 136 | union { |
Gary Servin |
0:04ac6be8229a | 137 | int64_t real; |
Gary Servin |
0:04ac6be8229a | 138 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 139 | } u_sum; |
Gary Servin |
0:04ac6be8229a | 140 | u_sum.base = 0; |
Gary Servin |
0:04ac6be8229a | 141 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 142 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 143 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 144 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 145 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 146 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 147 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 148 | u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 149 | this->sum = u_sum.real; |
Gary Servin |
0:04ac6be8229a | 150 | offset += sizeof(this->sum); |
Gary Servin |
0:04ac6be8229a | 151 | return offset; |
Gary Servin |
0:04ac6be8229a | 152 | } |
Gary Servin |
0:04ac6be8229a | 153 | |
Gary Servin |
0:04ac6be8229a | 154 | const char * getType(){ return TWOINTS; }; |
Gary Servin |
0:04ac6be8229a | 155 | const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; }; |
Gary Servin |
0:04ac6be8229a | 156 | |
Gary Servin |
0:04ac6be8229a | 157 | }; |
Gary Servin |
0:04ac6be8229a | 158 | |
Gary Servin |
0:04ac6be8229a | 159 | class TwoInts { |
Gary Servin |
0:04ac6be8229a | 160 | public: |
Gary Servin |
0:04ac6be8229a | 161 | typedef TwoIntsRequest Request; |
Gary Servin |
0:04ac6be8229a | 162 | typedef TwoIntsResponse Response; |
Gary Servin |
0:04ac6be8229a | 163 | }; |
Gary Servin |
0:04ac6be8229a | 164 | |
Gary Servin |
0:04ac6be8229a | 165 | } |
Gary Servin |
0:04ac6be8229a | 166 | #endif |