hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

turtlesim/Spawn.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_Spawn_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_Spawn_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 turtlesim
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char SPAWN[] = "turtlesim/Spawn";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SpawnRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef float _x_type;
Gary Servin 0:04ac6be8229a 17 _x_type x;
Gary Servin 0:04ac6be8229a 18 typedef float _y_type;
Gary Servin 0:04ac6be8229a 19 _y_type y;
Gary Servin 0:04ac6be8229a 20 typedef float _theta_type;
Gary Servin 0:04ac6be8229a 21 _theta_type theta;
Gary Servin 0:04ac6be8229a 22 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 23 _name_type name;
Gary Servin 0:04ac6be8229a 24
Gary Servin 0:04ac6be8229a 25 SpawnRequest():
Gary Servin 0:04ac6be8229a 26 x(0),
Gary Servin 0:04ac6be8229a 27 y(0),
Gary Servin 0:04ac6be8229a 28 theta(0),
Gary Servin 0:04ac6be8229a 29 name("")
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 34 {
Gary Servin 0:04ac6be8229a 35 int offset = 0;
Gary Servin 0:04ac6be8229a 36 union {
Gary Servin 0:04ac6be8229a 37 float real;
Gary Servin 0:04ac6be8229a 38 uint32_t base;
Gary Servin 0:04ac6be8229a 39 } u_x;
Gary Servin 0:04ac6be8229a 40 u_x.real = this->x;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 46 union {
Gary Servin 0:04ac6be8229a 47 float real;
Gary Servin 0:04ac6be8229a 48 uint32_t base;
Gary Servin 0:04ac6be8229a 49 } u_y;
Gary Servin 0:04ac6be8229a 50 u_y.real = this->y;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 56 union {
Gary Servin 0:04ac6be8229a 57 float real;
Gary Servin 0:04ac6be8229a 58 uint32_t base;
Gary Servin 0:04ac6be8229a 59 } u_theta;
Gary Servin 0:04ac6be8229a 60 u_theta.real = this->theta;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 66 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 67 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 68 offset += 4;
Gary Servin 0:04ac6be8229a 69 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 70 offset += length_name;
Gary Servin 0:04ac6be8229a 71 return offset;
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73
Gary Servin 0:04ac6be8229a 74 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 75 {
Gary Servin 0:04ac6be8229a 76 int offset = 0;
Gary Servin 0:04ac6be8229a 77 union {
Gary Servin 0:04ac6be8229a 78 float real;
Gary Servin 0:04ac6be8229a 79 uint32_t base;
Gary Servin 0:04ac6be8229a 80 } u_x;
Gary Servin 0:04ac6be8229a 81 u_x.base = 0;
Gary Servin 0:04ac6be8229a 82 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 83 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 84 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 85 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 86 this->x = u_x.real;
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 88 union {
Gary Servin 0:04ac6be8229a 89 float real;
Gary Servin 0:04ac6be8229a 90 uint32_t base;
Gary Servin 0:04ac6be8229a 91 } u_y;
Gary Servin 0:04ac6be8229a 92 u_y.base = 0;
Gary Servin 0:04ac6be8229a 93 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 94 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 95 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 96 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 97 this->y = u_y.real;
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 99 union {
Gary Servin 0:04ac6be8229a 100 float real;
Gary Servin 0:04ac6be8229a 101 uint32_t base;
Gary Servin 0:04ac6be8229a 102 } u_theta;
Gary Servin 0:04ac6be8229a 103 u_theta.base = 0;
Gary Servin 0:04ac6be8229a 104 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 105 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 106 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 107 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 108 this->theta = u_theta.real;
Gary Servin 0:04ac6be8229a 109 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 110 uint32_t length_name;
Gary Servin 0:04ac6be8229a 111 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 112 offset += 4;
Gary Servin 0:04ac6be8229a 113 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 114 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 115 }
Gary Servin 0:04ac6be8229a 116 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 117 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 118 offset += length_name;
Gary Servin 0:04ac6be8229a 119 return offset;
Gary Servin 0:04ac6be8229a 120 }
Gary Servin 0:04ac6be8229a 121
Gary Servin 0:04ac6be8229a 122 const char * getType(){ return SPAWN; };
Gary Servin 0:04ac6be8229a 123 const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
Gary Servin 0:04ac6be8229a 124
Gary Servin 0:04ac6be8229a 125 };
Gary Servin 0:04ac6be8229a 126
Gary Servin 0:04ac6be8229a 127 class SpawnResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 128 {
Gary Servin 0:04ac6be8229a 129 public:
Gary Servin 0:04ac6be8229a 130 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 131 _name_type name;
Gary Servin 0:04ac6be8229a 132
Gary Servin 0:04ac6be8229a 133 SpawnResponse():
Gary Servin 0:04ac6be8229a 134 name("")
Gary Servin 0:04ac6be8229a 135 {
Gary Servin 0:04ac6be8229a 136 }
Gary Servin 0:04ac6be8229a 137
Gary Servin 0:04ac6be8229a 138 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 139 {
Gary Servin 0:04ac6be8229a 140 int offset = 0;
Gary Servin 0:04ac6be8229a 141 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 142 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 143 offset += 4;
Gary Servin 0:04ac6be8229a 144 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 145 offset += length_name;
Gary Servin 0:04ac6be8229a 146 return offset;
Gary Servin 0:04ac6be8229a 147 }
Gary Servin 0:04ac6be8229a 148
Gary Servin 0:04ac6be8229a 149 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 150 {
Gary Servin 0:04ac6be8229a 151 int offset = 0;
Gary Servin 0:04ac6be8229a 152 uint32_t length_name;
Gary Servin 0:04ac6be8229a 153 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 154 offset += 4;
Gary Servin 0:04ac6be8229a 155 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 156 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 157 }
Gary Servin 0:04ac6be8229a 158 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 159 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 160 offset += length_name;
Gary Servin 0:04ac6be8229a 161 return offset;
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163
Gary Servin 0:04ac6be8229a 164 const char * getType(){ return SPAWN; };
Gary Servin 0:04ac6be8229a 165 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
Gary Servin 0:04ac6be8229a 166
Gary Servin 0:04ac6be8229a 167 };
Gary Servin 0:04ac6be8229a 168
Gary Servin 0:04ac6be8229a 169 class Spawn {
Gary Servin 0:04ac6be8229a 170 public:
Gary Servin 0:04ac6be8229a 171 typedef SpawnRequest Request;
Gary Servin 0:04ac6be8229a 172 typedef SpawnResponse Response;
Gary Servin 0:04ac6be8229a 173 };
Gary Servin 0:04ac6be8229a 174
Gary Servin 0:04ac6be8229a 175 }
Gary Servin 0:04ac6be8229a 176 #endif