hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

turtlesim/TeleportRelative.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_TeleportRelative_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_TeleportRelative_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 TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class TeleportRelativeRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef float _linear_type;
Gary Servin 0:04ac6be8229a 17 _linear_type linear;
Gary Servin 0:04ac6be8229a 18 typedef float _angular_type;
Gary Servin 0:04ac6be8229a 19 _angular_type angular;
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 TeleportRelativeRequest():
Gary Servin 0:04ac6be8229a 22 linear(0),
Gary Servin 0:04ac6be8229a 23 angular(0)
Gary Servin 0:04ac6be8229a 24 {
Gary Servin 0:04ac6be8229a 25 }
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 28 {
Gary Servin 0:04ac6be8229a 29 int offset = 0;
Gary Servin 0:04ac6be8229a 30 union {
Gary Servin 0:04ac6be8229a 31 float real;
Gary Servin 0:04ac6be8229a 32 uint32_t base;
Gary Servin 0:04ac6be8229a 33 } u_linear;
Gary Servin 0:04ac6be8229a 34 u_linear.real = this->linear;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 offset += sizeof(this->linear);
Gary Servin 0:04ac6be8229a 40 union {
Gary Servin 0:04ac6be8229a 41 float real;
Gary Servin 0:04ac6be8229a 42 uint32_t base;
Gary Servin 0:04ac6be8229a 43 } u_angular;
Gary Servin 0:04ac6be8229a 44 u_angular.real = this->angular;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 offset += sizeof(this->angular);
Gary Servin 0:04ac6be8229a 50 return offset;
Gary Servin 0:04ac6be8229a 51 }
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 54 {
Gary Servin 0:04ac6be8229a 55 int offset = 0;
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_linear;
Gary Servin 0:04ac6be8229a 60 u_linear.base = 0;
Gary Servin 0:04ac6be8229a 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 63 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 64 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 65 this->linear = u_linear.real;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->linear);
Gary Servin 0:04ac6be8229a 67 union {
Gary Servin 0:04ac6be8229a 68 float real;
Gary Servin 0:04ac6be8229a 69 uint32_t base;
Gary Servin 0:04ac6be8229a 70 } u_angular;
Gary Servin 0:04ac6be8229a 71 u_angular.base = 0;
Gary Servin 0:04ac6be8229a 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 74 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 75 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 76 this->angular = u_angular.real;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->angular);
Gary Servin 0:04ac6be8229a 78 return offset;
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80
Gary Servin 0:04ac6be8229a 81 const char * getType(){ return TELEPORTRELATIVE; };
Gary Servin 0:04ac6be8229a 82 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
Gary Servin 0:04ac6be8229a 83
Gary Servin 0:04ac6be8229a 84 };
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 class TeleportRelativeResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 87 {
Gary Servin 0:04ac6be8229a 88 public:
Gary Servin 0:04ac6be8229a 89
Gary Servin 0:04ac6be8229a 90 TeleportRelativeResponse()
Gary Servin 0:04ac6be8229a 91 {
Gary Servin 0:04ac6be8229a 92 }
Gary Servin 0:04ac6be8229a 93
Gary Servin 0:04ac6be8229a 94 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 95 {
Gary Servin 0:04ac6be8229a 96 int offset = 0;
Gary Servin 0:04ac6be8229a 97 return offset;
Gary Servin 0:04ac6be8229a 98 }
Gary Servin 0:04ac6be8229a 99
Gary Servin 0:04ac6be8229a 100 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 101 {
Gary Servin 0:04ac6be8229a 102 int offset = 0;
Gary Servin 0:04ac6be8229a 103 return offset;
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105
Gary Servin 0:04ac6be8229a 106 const char * getType(){ return TELEPORTRELATIVE; };
Gary Servin 0:04ac6be8229a 107 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 108
Gary Servin 0:04ac6be8229a 109 };
Gary Servin 0:04ac6be8229a 110
Gary Servin 0:04ac6be8229a 111 class TeleportRelative {
Gary Servin 0:04ac6be8229a 112 public:
Gary Servin 0:04ac6be8229a 113 typedef TeleportRelativeRequest Request;
Gary Servin 0:04ac6be8229a 114 typedef TeleportRelativeResponse Response;
Gary Servin 0:04ac6be8229a 115 };
Gary Servin 0:04ac6be8229a 116
Gary Servin 0:04ac6be8229a 117 }
Gary Servin 0:04ac6be8229a 118 #endif