hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

rospy_tutorials/Floats.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_rospy_tutorials_Floats_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_rospy_tutorials_Floats_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 rospy_tutorials
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class Floats : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 uint32_t data_length;
Gary Servin 0:04ac6be8229a 16 typedef float _data_type;
Gary Servin 0:04ac6be8229a 17 _data_type st_data;
Gary Servin 0:04ac6be8229a 18 _data_type * data;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 Floats():
Gary Servin 0:04ac6be8229a 21 data_length(0), data(NULL)
Gary Servin 0:04ac6be8229a 22 {
Gary Servin 0:04ac6be8229a 23 }
Gary Servin 0:04ac6be8229a 24
Gary Servin 0:04ac6be8229a 25 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 int offset = 0;
Gary Servin 0:04ac6be8229a 28 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 29 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 30 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 31 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 32 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 33 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 34 union {
Gary Servin 0:04ac6be8229a 35 float real;
Gary Servin 0:04ac6be8229a 36 uint32_t base;
Gary Servin 0:04ac6be8229a 37 } u_datai;
Gary Servin 0:04ac6be8229a 38 u_datai.real = this->data[i];
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 44 }
Gary Servin 0:04ac6be8229a 45 return offset;
Gary Servin 0:04ac6be8229a 46 }
Gary Servin 0:04ac6be8229a 47
Gary Servin 0:04ac6be8229a 48 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 int offset = 0;
Gary Servin 0:04ac6be8229a 51 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 52 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 53 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 54 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 56 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 57 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 58 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 59 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 60 union {
Gary Servin 0:04ac6be8229a 61 float real;
Gary Servin 0:04ac6be8229a 62 uint32_t base;
Gary Servin 0:04ac6be8229a 63 } u_st_data;
Gary Servin 0:04ac6be8229a 64 u_st_data.base = 0;
Gary Servin 0:04ac6be8229a 65 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 66 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 67 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 68 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 69 this->st_data = u_st_data.real;
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 71 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 return offset;
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 const char * getType(){ return "rospy_tutorials/Floats"; };
Gary Servin 0:04ac6be8229a 77 const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
Gary Servin 0:04ac6be8229a 78
Gary Servin 0:04ac6be8229a 79 };
Gary Servin 0:04ac6be8229a 80
Gary Servin 0:04ac6be8229a 81 }
Gary Servin 0:04ac6be8229a 82 #endif