hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

turtlesim/Pose.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_turtlesim_Pose_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_turtlesim_Pose_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 turtlesim
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class Pose : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef float _x_type;
Gary Servin 0:04ac6be8229a 16 _x_type x;
Gary Servin 0:04ac6be8229a 17 typedef float _y_type;
Gary Servin 0:04ac6be8229a 18 _y_type y;
Gary Servin 0:04ac6be8229a 19 typedef float _theta_type;
Gary Servin 0:04ac6be8229a 20 _theta_type theta;
Gary Servin 0:04ac6be8229a 21 typedef float _linear_velocity_type;
Gary Servin 0:04ac6be8229a 22 _linear_velocity_type linear_velocity;
Gary Servin 0:04ac6be8229a 23 typedef float _angular_velocity_type;
Gary Servin 0:04ac6be8229a 24 _angular_velocity_type angular_velocity;
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 Pose():
Gary Servin 0:04ac6be8229a 27 x(0),
Gary Servin 0:04ac6be8229a 28 y(0),
Gary Servin 0:04ac6be8229a 29 theta(0),
Gary Servin 0:04ac6be8229a 30 linear_velocity(0),
Gary Servin 0:04ac6be8229a 31 angular_velocity(0)
Gary Servin 0:04ac6be8229a 32 {
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 union {
Gary Servin 0:04ac6be8229a 39 float real;
Gary Servin 0:04ac6be8229a 40 uint32_t base;
Gary Servin 0:04ac6be8229a 41 } u_x;
Gary Servin 0:04ac6be8229a 42 u_x.real = this->x;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 48 union {
Gary Servin 0:04ac6be8229a 49 float real;
Gary Servin 0:04ac6be8229a 50 uint32_t base;
Gary Servin 0:04ac6be8229a 51 } u_y;
Gary Servin 0:04ac6be8229a 52 u_y.real = this->y;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 58 union {
Gary Servin 0:04ac6be8229a 59 float real;
Gary Servin 0:04ac6be8229a 60 uint32_t base;
Gary Servin 0:04ac6be8229a 61 } u_theta;
Gary Servin 0:04ac6be8229a 62 u_theta.real = this->theta;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 68 union {
Gary Servin 0:04ac6be8229a 69 float real;
Gary Servin 0:04ac6be8229a 70 uint32_t base;
Gary Servin 0:04ac6be8229a 71 } u_linear_velocity;
Gary Servin 0:04ac6be8229a 72 u_linear_velocity.real = this->linear_velocity;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->linear_velocity);
Gary Servin 0:04ac6be8229a 78 union {
Gary Servin 0:04ac6be8229a 79 float real;
Gary Servin 0:04ac6be8229a 80 uint32_t base;
Gary Servin 0:04ac6be8229a 81 } u_angular_velocity;
Gary Servin 0:04ac6be8229a 82 u_angular_velocity.real = this->angular_velocity;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->angular_velocity);
Gary Servin 0:04ac6be8229a 88 return offset;
Gary Servin 0:04ac6be8229a 89 }
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 92 {
Gary Servin 0:04ac6be8229a 93 int offset = 0;
Gary Servin 0:04ac6be8229a 94 union {
Gary Servin 0:04ac6be8229a 95 float real;
Gary Servin 0:04ac6be8229a 96 uint32_t base;
Gary Servin 0:04ac6be8229a 97 } u_x;
Gary Servin 0:04ac6be8229a 98 u_x.base = 0;
Gary Servin 0:04ac6be8229a 99 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 100 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 103 this->x = u_x.real;
Gary Servin 0:04ac6be8229a 104 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 105 union {
Gary Servin 0:04ac6be8229a 106 float real;
Gary Servin 0:04ac6be8229a 107 uint32_t base;
Gary Servin 0:04ac6be8229a 108 } u_y;
Gary Servin 0:04ac6be8229a 109 u_y.base = 0;
Gary Servin 0:04ac6be8229a 110 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 111 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 114 this->y = u_y.real;
Gary Servin 0:04ac6be8229a 115 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 116 union {
Gary Servin 0:04ac6be8229a 117 float real;
Gary Servin 0:04ac6be8229a 118 uint32_t base;
Gary Servin 0:04ac6be8229a 119 } u_theta;
Gary Servin 0:04ac6be8229a 120 u_theta.base = 0;
Gary Servin 0:04ac6be8229a 121 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 122 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 123 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 124 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 125 this->theta = u_theta.real;
Gary Servin 0:04ac6be8229a 126 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 127 union {
Gary Servin 0:04ac6be8229a 128 float real;
Gary Servin 0:04ac6be8229a 129 uint32_t base;
Gary Servin 0:04ac6be8229a 130 } u_linear_velocity;
Gary Servin 0:04ac6be8229a 131 u_linear_velocity.base = 0;
Gary Servin 0:04ac6be8229a 132 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 133 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 134 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 135 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 136 this->linear_velocity = u_linear_velocity.real;
Gary Servin 0:04ac6be8229a 137 offset += sizeof(this->linear_velocity);
Gary Servin 0:04ac6be8229a 138 union {
Gary Servin 0:04ac6be8229a 139 float real;
Gary Servin 0:04ac6be8229a 140 uint32_t base;
Gary Servin 0:04ac6be8229a 141 } u_angular_velocity;
Gary Servin 0:04ac6be8229a 142 u_angular_velocity.base = 0;
Gary Servin 0:04ac6be8229a 143 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 144 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 145 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 146 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 147 this->angular_velocity = u_angular_velocity.real;
Gary Servin 0:04ac6be8229a 148 offset += sizeof(this->angular_velocity);
Gary Servin 0:04ac6be8229a 149 return offset;
Gary Servin 0:04ac6be8229a 150 }
Gary Servin 0:04ac6be8229a 151
Gary Servin 0:04ac6be8229a 152 const char * getType(){ return "turtlesim/Pose"; };
Gary Servin 0:04ac6be8229a 153 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
Gary Servin 0:04ac6be8229a 154
Gary Servin 0:04ac6be8229a 155 };
Gary Servin 0:04ac6be8229a 156
Gary Servin 0:04ac6be8229a 157 }
Gary Servin 0:04ac6be8229a 158 #endif