Spawn.h

Go to the documentation of this file.

#ifndef _ROS_SERVICE_Spawn_h
#define _ROS_SERVICE_Spawn_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace turtlesim
{

static const char SPAWN[] = "turtlesim/Spawn";

  class SpawnRequest : public ros::Msg
  {
    public:
      float x;
      float y;
      float theta;
      const char* name;

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_x;
      u_x.real = this->x;
      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->x);
      union {
        float real;
        uint32_t base;
      } u_y;
      u_y.real = this->y;
      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->y);
      union {
        float real;
        uint32_t base;
      } u_theta;
      u_theta.real = this->theta;
      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->theta);
      uint32_t length_name = strlen(this->name);
      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        float real;
        uint32_t base;
      } u_x;
      u_x.base = 0;
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->x = u_x.real;
      offset += sizeof(this->x);
      union {
        float real;
        uint32_t base;
      } u_y;
      u_y.base = 0;
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->y = u_y.real;
      offset += sizeof(this->y);
      union {
        float real;
        uint32_t base;
      } u_theta;
      u_theta.base = 0;
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->theta = u_theta.real;
      offset += sizeof(this->theta);
      uint32_t length_name;
      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
     return offset;
    }

    const char * getType(){ return SPAWN; };
    const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };

  };

  class SpawnResponse : public ros::Msg
  {
    public:
      const char* name;

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_name = strlen(this->name);
      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_name;
      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
     return offset;
    }

    const char * getType(){ return SPAWN; };
    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };

  };

  class Spawn {
    public:
    typedef SpawnRequest Request;
    typedef SpawnResponse Response;
  };

}
#endif