hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

rosserial_msgs/RequestParam.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_RequestParam_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_RequestParam_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_msgs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class RequestParamRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 17 _name_type name;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 RequestParamRequest():
Gary Servin 0:04ac6be8229a 20 name("")
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_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 28 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 29 offset += 4;
Gary Servin 0:04ac6be8229a 30 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 31 offset += length_name;
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_name;
Gary Servin 0:04ac6be8229a 39 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 42 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 45 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 46 offset += length_name;
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 REQUESTPARAM; };
Gary Servin 0:04ac6be8229a 51 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 };
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 class RequestParamResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 public:
Gary Servin 0:04ac6be8229a 58 uint32_t ints_length;
Gary Servin 0:04ac6be8229a 59 typedef int32_t _ints_type;
Gary Servin 0:04ac6be8229a 60 _ints_type st_ints;
Gary Servin 0:04ac6be8229a 61 _ints_type * ints;
Gary Servin 0:04ac6be8229a 62 uint32_t floats_length;
Gary Servin 0:04ac6be8229a 63 typedef float _floats_type;
Gary Servin 0:04ac6be8229a 64 _floats_type st_floats;
Gary Servin 0:04ac6be8229a 65 _floats_type * floats;
Gary Servin 0:04ac6be8229a 66 uint32_t strings_length;
Gary Servin 0:04ac6be8229a 67 typedef char* _strings_type;
Gary Servin 0:04ac6be8229a 68 _strings_type st_strings;
Gary Servin 0:04ac6be8229a 69 _strings_type * strings;
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 RequestParamResponse():
Gary Servin 0:04ac6be8229a 72 ints_length(0), ints(NULL),
Gary Servin 0:04ac6be8229a 73 floats_length(0), floats(NULL),
Gary Servin 0:04ac6be8229a 74 strings_length(0), strings(NULL)
Gary Servin 0:04ac6be8229a 75 {
Gary Servin 0:04ac6be8229a 76 }
Gary Servin 0:04ac6be8229a 77
Gary Servin 0:04ac6be8229a 78 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 79 {
Gary Servin 0:04ac6be8229a 80 int offset = 0;
Gary Servin 0:04ac6be8229a 81 *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 82 *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 offset += sizeof(this->ints_length);
Gary Servin 0:04ac6be8229a 86 for( uint32_t i = 0; i < ints_length; i++){
Gary Servin 0:04ac6be8229a 87 union {
Gary Servin 0:04ac6be8229a 88 int32_t real;
Gary Servin 0:04ac6be8229a 89 uint32_t base;
Gary Servin 0:04ac6be8229a 90 } u_intsi;
Gary Servin 0:04ac6be8229a 91 u_intsi.real = this->ints[i];
Gary Servin 0:04ac6be8229a 92 *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 93 *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 94 *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 95 *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 96 offset += sizeof(this->ints[i]);
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98 *(outbuffer + offset + 0) = (this->floats_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 1) = (this->floats_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 2) = (this->floats_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 *(outbuffer + offset + 3) = (this->floats_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 102 offset += sizeof(this->floats_length);
Gary Servin 0:04ac6be8229a 103 for( uint32_t i = 0; i < floats_length; i++){
Gary Servin 0:04ac6be8229a 104 union {
Gary Servin 0:04ac6be8229a 105 float real;
Gary Servin 0:04ac6be8229a 106 uint32_t base;
Gary Servin 0:04ac6be8229a 107 } u_floatsi;
Gary Servin 0:04ac6be8229a 108 u_floatsi.real = this->floats[i];
Gary Servin 0:04ac6be8229a 109 *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 110 *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 111 *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 112 *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 113 offset += sizeof(this->floats[i]);
Gary Servin 0:04ac6be8229a 114 }
Gary Servin 0:04ac6be8229a 115 *(outbuffer + offset + 0) = (this->strings_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 116 *(outbuffer + offset + 1) = (this->strings_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 117 *(outbuffer + offset + 2) = (this->strings_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 118 *(outbuffer + offset + 3) = (this->strings_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 119 offset += sizeof(this->strings_length);
Gary Servin 0:04ac6be8229a 120 for( uint32_t i = 0; i < strings_length; i++){
Gary Servin 0:04ac6be8229a 121 uint32_t length_stringsi = strlen(this->strings[i]);
Gary Servin 0:04ac6be8229a 122 varToArr(outbuffer + offset, length_stringsi);
Gary Servin 0:04ac6be8229a 123 offset += 4;
Gary Servin 0:04ac6be8229a 124 memcpy(outbuffer + offset, this->strings[i], length_stringsi);
Gary Servin 0:04ac6be8229a 125 offset += length_stringsi;
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127 return offset;
Gary Servin 0:04ac6be8229a 128 }
Gary Servin 0:04ac6be8229a 129
Gary Servin 0:04ac6be8229a 130 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 131 {
Gary Servin 0:04ac6be8229a 132 int offset = 0;
Gary Servin 0:04ac6be8229a 133 uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 134 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 135 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 136 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 137 offset += sizeof(this->ints_length);
Gary Servin 0:04ac6be8229a 138 if(ints_lengthT > ints_length)
Gary Servin 0:04ac6be8229a 139 this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
Gary Servin 0:04ac6be8229a 140 ints_length = ints_lengthT;
Gary Servin 0:04ac6be8229a 141 for( uint32_t i = 0; i < ints_length; i++){
Gary Servin 0:04ac6be8229a 142 union {
Gary Servin 0:04ac6be8229a 143 int32_t real;
Gary Servin 0:04ac6be8229a 144 uint32_t base;
Gary Servin 0:04ac6be8229a 145 } u_st_ints;
Gary Servin 0:04ac6be8229a 146 u_st_ints.base = 0;
Gary Servin 0:04ac6be8229a 147 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 148 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 149 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 150 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 151 this->st_ints = u_st_ints.real;
Gary Servin 0:04ac6be8229a 152 offset += sizeof(this->st_ints);
Gary Servin 0:04ac6be8229a 153 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
Gary Servin 0:04ac6be8229a 154 }
Gary Servin 0:04ac6be8229a 155 uint32_t floats_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 156 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 157 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 158 floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 159 offset += sizeof(this->floats_length);
Gary Servin 0:04ac6be8229a 160 if(floats_lengthT > floats_length)
Gary Servin 0:04ac6be8229a 161 this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 162 floats_length = floats_lengthT;
Gary Servin 0:04ac6be8229a 163 for( uint32_t i = 0; i < floats_length; i++){
Gary Servin 0:04ac6be8229a 164 union {
Gary Servin 0:04ac6be8229a 165 float real;
Gary Servin 0:04ac6be8229a 166 uint32_t base;
Gary Servin 0:04ac6be8229a 167 } u_st_floats;
Gary Servin 0:04ac6be8229a 168 u_st_floats.base = 0;
Gary Servin 0:04ac6be8229a 169 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 170 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 171 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 172 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 173 this->st_floats = u_st_floats.real;
Gary Servin 0:04ac6be8229a 174 offset += sizeof(this->st_floats);
Gary Servin 0:04ac6be8229a 175 memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
Gary Servin 0:04ac6be8229a 176 }
Gary Servin 0:04ac6be8229a 177 uint32_t strings_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 178 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 179 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 180 strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 181 offset += sizeof(this->strings_length);
Gary Servin 0:04ac6be8229a 182 if(strings_lengthT > strings_length)
Gary Servin 0:04ac6be8229a 183 this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 184 strings_length = strings_lengthT;
Gary Servin 0:04ac6be8229a 185 for( uint32_t i = 0; i < strings_length; i++){
Gary Servin 0:04ac6be8229a 186 uint32_t length_st_strings;
Gary Servin 0:04ac6be8229a 187 arrToVar(length_st_strings, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 188 offset += 4;
Gary Servin 0:04ac6be8229a 189 for(unsigned int k= offset; k< offset+length_st_strings; ++k){
Gary Servin 0:04ac6be8229a 190 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 191 }
Gary Servin 0:04ac6be8229a 192 inbuffer[offset+length_st_strings-1]=0;
Gary Servin 0:04ac6be8229a 193 this->st_strings = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 194 offset += length_st_strings;
Gary Servin 0:04ac6be8229a 195 memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
Gary Servin 0:04ac6be8229a 196 }
Gary Servin 0:04ac6be8229a 197 return offset;
Gary Servin 0:04ac6be8229a 198 }
Gary Servin 0:04ac6be8229a 199
Gary Servin 0:04ac6be8229a 200 const char * getType(){ return REQUESTPARAM; };
Gary Servin 0:04ac6be8229a 201 const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
Gary Servin 0:04ac6be8229a 202
Gary Servin 0:04ac6be8229a 203 };
Gary Servin 0:04ac6be8229a 204
Gary Servin 0:04ac6be8229a 205 class RequestParam {
Gary Servin 0:04ac6be8229a 206 public:
Gary Servin 0:04ac6be8229a 207 typedef RequestParamRequest Request;
Gary Servin 0:04ac6be8229a 208 typedef RequestParamResponse Response;
Gary Servin 0:04ac6be8229a 209 };
Gary Servin 0:04ac6be8229a 210
Gary Servin 0:04ac6be8229a 211 }
Gary Servin 0:04ac6be8229a 212 #endif