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/HeaderString.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_HeaderString_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_rospy_tutorials_HeaderString_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 rospy_tutorials
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class HeaderString : 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 const char* _data_type;
Gary Servin 0:04ac6be8229a 19 _data_type data;
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 HeaderString():
Gary Servin 0:04ac6be8229a 22 header(),
Gary Servin 0:04ac6be8229a 23 data("")
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 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 31 uint32_t length_data = strlen(this->data);
Gary Servin 0:04ac6be8229a 32 varToArr(outbuffer + offset, length_data);
Gary Servin 0:04ac6be8229a 33 offset += 4;
Gary Servin 0:04ac6be8229a 34 memcpy(outbuffer + offset, this->data, length_data);
Gary Servin 0:04ac6be8229a 35 offset += length_data;
Gary Servin 0:04ac6be8229a 36 return offset;
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 int offset = 0;
Gary Servin 0:04ac6be8229a 42 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 43 uint32_t length_data;
Gary Servin 0:04ac6be8229a 44 arrToVar(length_data, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 45 offset += 4;
Gary Servin 0:04ac6be8229a 46 for(unsigned int k= offset; k< offset+length_data; ++k){
Gary Servin 0:04ac6be8229a 47 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49 inbuffer[offset+length_data-1]=0;
Gary Servin 0:04ac6be8229a 50 this->data = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 51 offset += length_data;
Gary Servin 0:04ac6be8229a 52 return offset;
Gary Servin 0:04ac6be8229a 53 }
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 const char * getType(){ return "rospy_tutorials/HeaderString"; };
Gary Servin 0:04ac6be8229a 56 const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
Gary Servin 0:04ac6be8229a 57
Gary Servin 0:04ac6be8229a 58 };
Gary Servin 0:04ac6be8229a 59
Gary Servin 0:04ac6be8229a 60 }
Gary Servin 0:04ac6be8229a 61 #endif