hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

rosgraph_msgs/Log.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_rosgraph_msgs_Log_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_rosgraph_msgs_Log_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 rosgraph_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Log : 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 int8_t _level_type;
Gary Servin 0:04ac6be8229a 19 _level_type level;
Gary Servin 0:04ac6be8229a 20 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 21 _name_type name;
Gary Servin 0:04ac6be8229a 22 typedef const char* _msg_type;
Gary Servin 0:04ac6be8229a 23 _msg_type msg;
Gary Servin 0:04ac6be8229a 24 typedef const char* _file_type;
Gary Servin 0:04ac6be8229a 25 _file_type file;
Gary Servin 0:04ac6be8229a 26 typedef const char* _function_type;
Gary Servin 0:04ac6be8229a 27 _function_type function;
Gary Servin 0:04ac6be8229a 28 typedef uint32_t _line_type;
Gary Servin 0:04ac6be8229a 29 _line_type line;
Gary Servin 0:04ac6be8229a 30 uint32_t topics_length;
Gary Servin 0:04ac6be8229a 31 typedef char* _topics_type;
Gary Servin 0:04ac6be8229a 32 _topics_type st_topics;
Gary Servin 0:04ac6be8229a 33 _topics_type * topics;
Gary Servin 0:04ac6be8229a 34 enum { DEBUG = 1 };
Gary Servin 0:04ac6be8229a 35 enum { INFO = 2 };
Gary Servin 0:04ac6be8229a 36 enum { WARN = 4 };
Gary Servin 0:04ac6be8229a 37 enum { ERROR = 8 };
Gary Servin 0:04ac6be8229a 38 enum { FATAL = 16 };
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 Log():
Gary Servin 0:04ac6be8229a 41 header(),
Gary Servin 0:04ac6be8229a 42 level(0),
Gary Servin 0:04ac6be8229a 43 name(""),
Gary Servin 0:04ac6be8229a 44 msg(""),
Gary Servin 0:04ac6be8229a 45 file(""),
Gary Servin 0:04ac6be8229a 46 function(""),
Gary Servin 0:04ac6be8229a 47 line(0),
Gary Servin 0:04ac6be8229a 48 topics_length(0), topics(NULL)
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 int offset = 0;
Gary Servin 0:04ac6be8229a 55 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 56 union {
Gary Servin 0:04ac6be8229a 57 int8_t real;
Gary Servin 0:04ac6be8229a 58 uint8_t base;
Gary Servin 0:04ac6be8229a 59 } u_level;
Gary Servin 0:04ac6be8229a 60 u_level.real = this->level;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 offset += sizeof(this->level);
Gary Servin 0:04ac6be8229a 63 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 64 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 65 offset += 4;
Gary Servin 0:04ac6be8229a 66 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 67 offset += length_name;
Gary Servin 0:04ac6be8229a 68 uint32_t length_msg = strlen(this->msg);
Gary Servin 0:04ac6be8229a 69 varToArr(outbuffer + offset, length_msg);
Gary Servin 0:04ac6be8229a 70 offset += 4;
Gary Servin 0:04ac6be8229a 71 memcpy(outbuffer + offset, this->msg, length_msg);
Gary Servin 0:04ac6be8229a 72 offset += length_msg;
Gary Servin 0:04ac6be8229a 73 uint32_t length_file = strlen(this->file);
Gary Servin 0:04ac6be8229a 74 varToArr(outbuffer + offset, length_file);
Gary Servin 0:04ac6be8229a 75 offset += 4;
Gary Servin 0:04ac6be8229a 76 memcpy(outbuffer + offset, this->file, length_file);
Gary Servin 0:04ac6be8229a 77 offset += length_file;
Gary Servin 0:04ac6be8229a 78 uint32_t length_function = strlen(this->function);
Gary Servin 0:04ac6be8229a 79 varToArr(outbuffer + offset, length_function);
Gary Servin 0:04ac6be8229a 80 offset += 4;
Gary Servin 0:04ac6be8229a 81 memcpy(outbuffer + offset, this->function, length_function);
Gary Servin 0:04ac6be8229a 82 offset += length_function;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 0) = (this->line >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 1) = (this->line >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 2) = (this->line >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 3) = (this->line >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->line);
Gary Servin 0:04ac6be8229a 88 *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 89 *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 90 *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->topics_length);
Gary Servin 0:04ac6be8229a 93 for( uint32_t i = 0; i < topics_length; i++){
Gary Servin 0:04ac6be8229a 94 uint32_t length_topicsi = strlen(this->topics[i]);
Gary Servin 0:04ac6be8229a 95 varToArr(outbuffer + offset, length_topicsi);
Gary Servin 0:04ac6be8229a 96 offset += 4;
Gary Servin 0:04ac6be8229a 97 memcpy(outbuffer + offset, this->topics[i], length_topicsi);
Gary Servin 0:04ac6be8229a 98 offset += length_topicsi;
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100 return offset;
Gary Servin 0:04ac6be8229a 101 }
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 104 {
Gary Servin 0:04ac6be8229a 105 int offset = 0;
Gary Servin 0:04ac6be8229a 106 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 107 union {
Gary Servin 0:04ac6be8229a 108 int8_t real;
Gary Servin 0:04ac6be8229a 109 uint8_t base;
Gary Servin 0:04ac6be8229a 110 } u_level;
Gary Servin 0:04ac6be8229a 111 u_level.base = 0;
Gary Servin 0:04ac6be8229a 112 u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 113 this->level = u_level.real;
Gary Servin 0:04ac6be8229a 114 offset += sizeof(this->level);
Gary Servin 0:04ac6be8229a 115 uint32_t length_name;
Gary Servin 0:04ac6be8229a 116 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 117 offset += 4;
Gary Servin 0:04ac6be8229a 118 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 119 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 120 }
Gary Servin 0:04ac6be8229a 121 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 122 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 123 offset += length_name;
Gary Servin 0:04ac6be8229a 124 uint32_t length_msg;
Gary Servin 0:04ac6be8229a 125 arrToVar(length_msg, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 126 offset += 4;
Gary Servin 0:04ac6be8229a 127 for(unsigned int k= offset; k< offset+length_msg; ++k){
Gary Servin 0:04ac6be8229a 128 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 129 }
Gary Servin 0:04ac6be8229a 130 inbuffer[offset+length_msg-1]=0;
Gary Servin 0:04ac6be8229a 131 this->msg = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 132 offset += length_msg;
Gary Servin 0:04ac6be8229a 133 uint32_t length_file;
Gary Servin 0:04ac6be8229a 134 arrToVar(length_file, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 135 offset += 4;
Gary Servin 0:04ac6be8229a 136 for(unsigned int k= offset; k< offset+length_file; ++k){
Gary Servin 0:04ac6be8229a 137 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 138 }
Gary Servin 0:04ac6be8229a 139 inbuffer[offset+length_file-1]=0;
Gary Servin 0:04ac6be8229a 140 this->file = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 141 offset += length_file;
Gary Servin 0:04ac6be8229a 142 uint32_t length_function;
Gary Servin 0:04ac6be8229a 143 arrToVar(length_function, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 144 offset += 4;
Gary Servin 0:04ac6be8229a 145 for(unsigned int k= offset; k< offset+length_function; ++k){
Gary Servin 0:04ac6be8229a 146 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 147 }
Gary Servin 0:04ac6be8229a 148 inbuffer[offset+length_function-1]=0;
Gary Servin 0:04ac6be8229a 149 this->function = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 150 offset += length_function;
Gary Servin 0:04ac6be8229a 151 this->line = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 152 this->line |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 153 this->line |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 154 this->line |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 155 offset += sizeof(this->line);
Gary Servin 0:04ac6be8229a 156 uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 157 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 158 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 159 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 160 offset += sizeof(this->topics_length);
Gary Servin 0:04ac6be8229a 161 if(topics_lengthT > topics_length)
Gary Servin 0:04ac6be8229a 162 this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 163 topics_length = topics_lengthT;
Gary Servin 0:04ac6be8229a 164 for( uint32_t i = 0; i < topics_length; i++){
Gary Servin 0:04ac6be8229a 165 uint32_t length_st_topics;
Gary Servin 0:04ac6be8229a 166 arrToVar(length_st_topics, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 167 offset += 4;
Gary Servin 0:04ac6be8229a 168 for(unsigned int k= offset; k< offset+length_st_topics; ++k){
Gary Servin 0:04ac6be8229a 169 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 170 }
Gary Servin 0:04ac6be8229a 171 inbuffer[offset+length_st_topics-1]=0;
Gary Servin 0:04ac6be8229a 172 this->st_topics = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 173 offset += length_st_topics;
Gary Servin 0:04ac6be8229a 174 memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
Gary Servin 0:04ac6be8229a 175 }
Gary Servin 0:04ac6be8229a 176 return offset;
Gary Servin 0:04ac6be8229a 177 }
Gary Servin 0:04ac6be8229a 178
Gary Servin 0:04ac6be8229a 179 const char * getType(){ return "rosgraph_msgs/Log"; };
Gary Servin 0:04ac6be8229a 180 const char * getMD5(){ return "acffd30cd6b6de30f120938c17c593fb"; };
Gary Servin 0:04ac6be8229a 181
Gary Servin 0:04ac6be8229a 182 };
Gary Servin 0:04ac6be8229a 183
Gary Servin 0:04ac6be8229a 184 }
Gary Servin 0:04ac6be8229a 185 #endif