hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

turtlesim/TeleportAbsolute.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_TeleportAbsolute_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_TeleportAbsolute_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 TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class TeleportAbsoluteRequest : 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
Gary Servin 0:04ac6be8229a 23 TeleportAbsoluteRequest():
Gary Servin 0:04ac6be8229a 24 x(0),
Gary Servin 0:04ac6be8229a 25 y(0),
Gary Servin 0:04ac6be8229a 26 theta(0)
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 union {
Gary Servin 0:04ac6be8229a 34 float real;
Gary Servin 0:04ac6be8229a 35 uint32_t base;
Gary Servin 0:04ac6be8229a 36 } u_x;
Gary Servin 0:04ac6be8229a 37 u_x.real = this->x;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 43 union {
Gary Servin 0:04ac6be8229a 44 float real;
Gary Servin 0:04ac6be8229a 45 uint32_t base;
Gary Servin 0:04ac6be8229a 46 } u_y;
Gary Servin 0:04ac6be8229a 47 u_y.real = this->y;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 53 union {
Gary Servin 0:04ac6be8229a 54 float real;
Gary Servin 0:04ac6be8229a 55 uint32_t base;
Gary Servin 0:04ac6be8229a 56 } u_theta;
Gary Servin 0:04ac6be8229a 57 u_theta.real = this->theta;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 63 return offset;
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 int offset = 0;
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 float real;
Gary Servin 0:04ac6be8229a 71 uint32_t base;
Gary Servin 0:04ac6be8229a 72 } u_x;
Gary Servin 0:04ac6be8229a 73 u_x.base = 0;
Gary Servin 0:04ac6be8229a 74 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 75 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 76 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 77 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 78 this->x = u_x.real;
Gary Servin 0:04ac6be8229a 79 offset += sizeof(this->x);
Gary Servin 0:04ac6be8229a 80 union {
Gary Servin 0:04ac6be8229a 81 float real;
Gary Servin 0:04ac6be8229a 82 uint32_t base;
Gary Servin 0:04ac6be8229a 83 } u_y;
Gary Servin 0:04ac6be8229a 84 u_y.base = 0;
Gary Servin 0:04ac6be8229a 85 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 86 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 87 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 88 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 89 this->y = u_y.real;
Gary Servin 0:04ac6be8229a 90 offset += sizeof(this->y);
Gary Servin 0:04ac6be8229a 91 union {
Gary Servin 0:04ac6be8229a 92 float real;
Gary Servin 0:04ac6be8229a 93 uint32_t base;
Gary Servin 0:04ac6be8229a 94 } u_theta;
Gary Servin 0:04ac6be8229a 95 u_theta.base = 0;
Gary Servin 0:04ac6be8229a 96 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 97 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 98 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 99 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 100 this->theta = u_theta.real;
Gary Servin 0:04ac6be8229a 101 offset += sizeof(this->theta);
Gary Servin 0:04ac6be8229a 102 return offset;
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104
Gary Servin 0:04ac6be8229a 105 const char * getType(){ return TELEPORTABSOLUTE; };
Gary Servin 0:04ac6be8229a 106 const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
Gary Servin 0:04ac6be8229a 107
Gary Servin 0:04ac6be8229a 108 };
Gary Servin 0:04ac6be8229a 109
Gary Servin 0:04ac6be8229a 110 class TeleportAbsoluteResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 111 {
Gary Servin 0:04ac6be8229a 112 public:
Gary Servin 0:04ac6be8229a 113
Gary Servin 0:04ac6be8229a 114 TeleportAbsoluteResponse()
Gary Servin 0:04ac6be8229a 115 {
Gary Servin 0:04ac6be8229a 116 }
Gary Servin 0:04ac6be8229a 117
Gary Servin 0:04ac6be8229a 118 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 119 {
Gary Servin 0:04ac6be8229a 120 int offset = 0;
Gary Servin 0:04ac6be8229a 121 return offset;
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123
Gary Servin 0:04ac6be8229a 124 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 125 {
Gary Servin 0:04ac6be8229a 126 int offset = 0;
Gary Servin 0:04ac6be8229a 127 return offset;
Gary Servin 0:04ac6be8229a 128 }
Gary Servin 0:04ac6be8229a 129
Gary Servin 0:04ac6be8229a 130 const char * getType(){ return TELEPORTABSOLUTE; };
Gary Servin 0:04ac6be8229a 131 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 132
Gary Servin 0:04ac6be8229a 133 };
Gary Servin 0:04ac6be8229a 134
Gary Servin 0:04ac6be8229a 135 class TeleportAbsolute {
Gary Servin 0:04ac6be8229a 136 public:
Gary Servin 0:04ac6be8229a 137 typedef TeleportAbsoluteRequest Request;
Gary Servin 0:04ac6be8229a 138 typedef TeleportAbsoluteResponse Response;
Gary Servin 0:04ac6be8229a 139 };
Gary Servin 0:04ac6be8229a 140
Gary Servin 0:04ac6be8229a 141 }
Gary Servin 0:04ac6be8229a 142 #endif