hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

std_msgs/Header.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_std_msgs_Header_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_std_msgs_Header_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 "ros/time.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace std_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Header : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef uint32_t _seq_type;
Gary Servin 0:04ac6be8229a 17 _seq_type seq;
Gary Servin 0:04ac6be8229a 18 typedef ros::Time _stamp_type;
Gary Servin 0:04ac6be8229a 19 _stamp_type stamp;
Gary Servin 0:04ac6be8229a 20 typedef const char* _frame_id_type;
Gary Servin 0:04ac6be8229a 21 _frame_id_type frame_id;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 Header():
Gary Servin 0:04ac6be8229a 24 seq(0),
Gary Servin 0:04ac6be8229a 25 stamp(),
Gary Servin 0:04ac6be8229a 26 frame_id("")
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 }
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 int offset = 0;
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 offset += sizeof(this->seq);
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 offset += sizeof(this->stamp.sec);
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->stamp.nsec);
Gary Servin 0:04ac6be8229a 48 uint32_t length_frame_id = strlen(this->frame_id);
Gary Servin 0:04ac6be8229a 49 varToArr(outbuffer + offset, length_frame_id);
Gary Servin 0:04ac6be8229a 50 offset += 4;
Gary Servin 0:04ac6be8229a 51 memcpy(outbuffer + offset, this->frame_id, length_frame_id);
Gary Servin 0:04ac6be8229a 52 offset += length_frame_id;
Gary Servin 0:04ac6be8229a 53 return offset;
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 57 {
Gary Servin 0:04ac6be8229a 58 int offset = 0;
Gary Servin 0:04ac6be8229a 59 this->seq = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 60 this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 61 this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 62 this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 63 offset += sizeof(this->seq);
Gary Servin 0:04ac6be8229a 64 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 65 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 66 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 67 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 68 offset += sizeof(this->stamp.sec);
Gary Servin 0:04ac6be8229a 69 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 70 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 71 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 72 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->stamp.nsec);
Gary Servin 0:04ac6be8229a 74 uint32_t length_frame_id;
Gary Servin 0:04ac6be8229a 75 arrToVar(length_frame_id, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 76 offset += 4;
Gary Servin 0:04ac6be8229a 77 for(unsigned int k= offset; k< offset+length_frame_id; ++k){
Gary Servin 0:04ac6be8229a 78 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80 inbuffer[offset+length_frame_id-1]=0;
Gary Servin 0:04ac6be8229a 81 this->frame_id = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 82 offset += length_frame_id;
Gary Servin 0:04ac6be8229a 83 return offset;
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 const char * getType(){ return "std_msgs/Header"; };
Gary Servin 0:04ac6be8229a 87 const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
Gary Servin 0:04ac6be8229a 88
Gary Servin 0:04ac6be8229a 89 };
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92 #endif