hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

rosserial_arduino/Test.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_Test_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_Test_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 rosserial_arduino
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char TEST[] = "rosserial_arduino/Test";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class TestRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _input_type;
Gary Servin 0:04ac6be8229a 17 _input_type input;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 TestRequest():
Gary Servin 0:04ac6be8229a 20 input("")
Gary Servin 0:04ac6be8229a 21 {
Gary Servin 0:04ac6be8229a 22 }
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 int offset = 0;
Gary Servin 0:04ac6be8229a 27 uint32_t length_input = strlen(this->input);
Gary Servin 0:04ac6be8229a 28 varToArr(outbuffer + offset, length_input);
Gary Servin 0:04ac6be8229a 29 offset += 4;
Gary Servin 0:04ac6be8229a 30 memcpy(outbuffer + offset, this->input, length_input);
Gary Servin 0:04ac6be8229a 31 offset += length_input;
Gary Servin 0:04ac6be8229a 32 return offset;
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 uint32_t length_input;
Gary Servin 0:04ac6be8229a 39 arrToVar(length_input, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 for(unsigned int k= offset; k< offset+length_input; ++k){
Gary Servin 0:04ac6be8229a 42 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44 inbuffer[offset+length_input-1]=0;
Gary Servin 0:04ac6be8229a 45 this->input = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 46 offset += length_input;
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 const char * getType(){ return TEST; };
Gary Servin 0:04ac6be8229a 51 const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 };
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 class TestResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 public:
Gary Servin 0:04ac6be8229a 58 typedef const char* _output_type;
Gary Servin 0:04ac6be8229a 59 _output_type output;
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 TestResponse():
Gary Servin 0:04ac6be8229a 62 output("")
Gary Servin 0:04ac6be8229a 63 {
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 int offset = 0;
Gary Servin 0:04ac6be8229a 69 uint32_t length_output = strlen(this->output);
Gary Servin 0:04ac6be8229a 70 varToArr(outbuffer + offset, length_output);
Gary Servin 0:04ac6be8229a 71 offset += 4;
Gary Servin 0:04ac6be8229a 72 memcpy(outbuffer + offset, this->output, length_output);
Gary Servin 0:04ac6be8229a 73 offset += length_output;
Gary Servin 0:04ac6be8229a 74 return offset;
Gary Servin 0:04ac6be8229a 75 }
Gary Servin 0:04ac6be8229a 76
Gary Servin 0:04ac6be8229a 77 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 78 {
Gary Servin 0:04ac6be8229a 79 int offset = 0;
Gary Servin 0:04ac6be8229a 80 uint32_t length_output;
Gary Servin 0:04ac6be8229a 81 arrToVar(length_output, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 82 offset += 4;
Gary Servin 0:04ac6be8229a 83 for(unsigned int k= offset; k< offset+length_output; ++k){
Gary Servin 0:04ac6be8229a 84 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 85 }
Gary Servin 0:04ac6be8229a 86 inbuffer[offset+length_output-1]=0;
Gary Servin 0:04ac6be8229a 87 this->output = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 88 offset += length_output;
Gary Servin 0:04ac6be8229a 89 return offset;
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91
Gary Servin 0:04ac6be8229a 92 const char * getType(){ return TEST; };
Gary Servin 0:04ac6be8229a 93 const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
Gary Servin 0:04ac6be8229a 94
Gary Servin 0:04ac6be8229a 95 };
Gary Servin 0:04ac6be8229a 96
Gary Servin 0:04ac6be8229a 97 class Test {
Gary Servin 0:04ac6be8229a 98 public:
Gary Servin 0:04ac6be8229a 99 typedef TestRequest Request;
Gary Servin 0:04ac6be8229a 100 typedef TestResponse Response;
Gary Servin 0:04ac6be8229a 101 };
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104 #endif