hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

turtle_actionlib/ShapeGoal.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_turtle_actionlib_ShapeGoal_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_turtle_actionlib_ShapeGoal_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 turtle_actionlib
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class ShapeGoal : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef int32_t _edges_type;
Gary Servin 0:04ac6be8229a 16 _edges_type edges;
Gary Servin 0:04ac6be8229a 17 typedef float _radius_type;
Gary Servin 0:04ac6be8229a 18 _radius_type radius;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 ShapeGoal():
Gary Servin 0:04ac6be8229a 21 edges(0),
Gary Servin 0:04ac6be8229a 22 radius(0)
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 }
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 int offset = 0;
Gary Servin 0:04ac6be8229a 29 union {
Gary Servin 0:04ac6be8229a 30 int32_t real;
Gary Servin 0:04ac6be8229a 31 uint32_t base;
Gary Servin 0:04ac6be8229a 32 } u_edges;
Gary Servin 0:04ac6be8229a 33 u_edges.real = this->edges;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 0) = (u_edges.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 1) = (u_edges.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 2) = (u_edges.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 3) = (u_edges.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 offset += sizeof(this->edges);
Gary Servin 0:04ac6be8229a 39 union {
Gary Servin 0:04ac6be8229a 40 float real;
Gary Servin 0:04ac6be8229a 41 uint32_t base;
Gary Servin 0:04ac6be8229a 42 } u_radius;
Gary Servin 0:04ac6be8229a 43 u_radius.real = this->radius;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 0) = (u_radius.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 1) = (u_radius.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 2) = (u_radius.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 3) = (u_radius.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 offset += sizeof(this->radius);
Gary Servin 0:04ac6be8229a 49 return offset;
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 int offset = 0;
Gary Servin 0:04ac6be8229a 55 union {
Gary Servin 0:04ac6be8229a 56 int32_t real;
Gary Servin 0:04ac6be8229a 57 uint32_t base;
Gary Servin 0:04ac6be8229a 58 } u_edges;
Gary Servin 0:04ac6be8229a 59 u_edges.base = 0;
Gary Servin 0:04ac6be8229a 60 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 61 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 62 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 63 u_edges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 64 this->edges = u_edges.real;
Gary Servin 0:04ac6be8229a 65 offset += sizeof(this->edges);
Gary Servin 0:04ac6be8229a 66 union {
Gary Servin 0:04ac6be8229a 67 float real;
Gary Servin 0:04ac6be8229a 68 uint32_t base;
Gary Servin 0:04ac6be8229a 69 } u_radius;
Gary Servin 0:04ac6be8229a 70 u_radius.base = 0;
Gary Servin 0:04ac6be8229a 71 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 72 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 73 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 74 u_radius.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 75 this->radius = u_radius.real;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->radius);
Gary Servin 0:04ac6be8229a 77 return offset;
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79
Gary Servin 0:04ac6be8229a 80 const char * getType(){ return "turtle_actionlib/ShapeGoal"; };
Gary Servin 0:04ac6be8229a 81 const char * getMD5(){ return "3b9202ab7292cebe5a95ab2bf6b9c091"; };
Gary Servin 0:04ac6be8229a 82
Gary Servin 0:04ac6be8229a 83 };
Gary Servin 0:04ac6be8229a 84
Gary Servin 0:04ac6be8229a 85 }
Gary Servin 0:04ac6be8229a 86 #endif