Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
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?
User | Revision | Line number | New 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 |