Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

std_srvs/Trigger.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_Trigger_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_Trigger_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace std_srvs
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char TRIGGER[] = "std_srvs/Trigger";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class TriggerRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16
garyservin 0:fd24f7ca9688 17 TriggerRequest()
garyservin 0:fd24f7ca9688 18 {
garyservin 0:fd24f7ca9688 19 }
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 int offset = 0;
garyservin 0:fd24f7ca9688 24 return offset;
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 return offset;
garyservin 0:fd24f7ca9688 31 }
garyservin 0:fd24f7ca9688 32
garyservin 0:fd24f7ca9688 33 const char * getType(){ return TRIGGER; };
garyservin 0:fd24f7ca9688 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 35
garyservin 0:fd24f7ca9688 36 };
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 class TriggerResponse : public ros::Msg
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 public:
garyservin 0:fd24f7ca9688 41 bool success;
garyservin 0:fd24f7ca9688 42 const char* message;
garyservin 0:fd24f7ca9688 43
garyservin 0:fd24f7ca9688 44 TriggerResponse():
garyservin 0:fd24f7ca9688 45 success(0),
garyservin 0:fd24f7ca9688 46 message("")
garyservin 0:fd24f7ca9688 47 {
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 51 {
garyservin 0:fd24f7ca9688 52 int offset = 0;
garyservin 0:fd24f7ca9688 53 union {
garyservin 0:fd24f7ca9688 54 bool real;
garyservin 0:fd24f7ca9688 55 uint8_t base;
garyservin 0:fd24f7ca9688 56 } u_success;
garyservin 0:fd24f7ca9688 57 u_success.real = this->success;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 59 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 60 uint32_t length_message = strlen(this->message);
garyservin 0:fd24f7ca9688 61 memcpy(outbuffer + offset, &length_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 62 offset += 4;
garyservin 0:fd24f7ca9688 63 memcpy(outbuffer + offset, this->message, length_message);
garyservin 0:fd24f7ca9688 64 offset += length_message;
garyservin 0:fd24f7ca9688 65 return offset;
garyservin 0:fd24f7ca9688 66 }
garyservin 0:fd24f7ca9688 67
garyservin 0:fd24f7ca9688 68 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 69 {
garyservin 0:fd24f7ca9688 70 int offset = 0;
garyservin 0:fd24f7ca9688 71 union {
garyservin 0:fd24f7ca9688 72 bool real;
garyservin 0:fd24f7ca9688 73 uint8_t base;
garyservin 0:fd24f7ca9688 74 } u_success;
garyservin 0:fd24f7ca9688 75 u_success.base = 0;
garyservin 0:fd24f7ca9688 76 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 77 this->success = u_success.real;
garyservin 0:fd24f7ca9688 78 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 79 uint32_t length_message;
garyservin 0:fd24f7ca9688 80 memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 81 offset += 4;
garyservin 0:fd24f7ca9688 82 for(unsigned int k= offset; k< offset+length_message; ++k){
garyservin 0:fd24f7ca9688 83 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 84 }
garyservin 0:fd24f7ca9688 85 inbuffer[offset+length_message-1]=0;
garyservin 0:fd24f7ca9688 86 this->message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 87 offset += length_message;
garyservin 0:fd24f7ca9688 88 return offset;
garyservin 0:fd24f7ca9688 89 }
garyservin 0:fd24f7ca9688 90
garyservin 0:fd24f7ca9688 91 const char * getType(){ return TRIGGER; };
garyservin 0:fd24f7ca9688 92 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
garyservin 0:fd24f7ca9688 93
garyservin 0:fd24f7ca9688 94 };
garyservin 0:fd24f7ca9688 95
garyservin 0:fd24f7ca9688 96 class Trigger {
garyservin 0:fd24f7ca9688 97 public:
garyservin 0:fd24f7ca9688 98 typedef TriggerRequest Request;
garyservin 0:fd24f7ca9688 99 typedef TriggerResponse Response;
garyservin 0:fd24f7ca9688 100 };
garyservin 0:fd24f7ca9688 101
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103 #endif