Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/std_srvs/SetBool.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_SetBool_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_SetBool_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7
scarter1 0:020db18a476d 8 namespace std_srvs
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char SETBOOL[] = "std_srvs/SetBool";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class SetBoolRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef bool _data_type;
scarter1 0:020db18a476d 17 _data_type data;
scarter1 0:020db18a476d 18
scarter1 0:020db18a476d 19 SetBoolRequest():
scarter1 0:020db18a476d 20 data(0)
scarter1 0:020db18a476d 21 {
scarter1 0:020db18a476d 22 }
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 25 {
scarter1 0:020db18a476d 26 int offset = 0;
scarter1 0:020db18a476d 27 union {
scarter1 0:020db18a476d 28 bool real;
scarter1 0:020db18a476d 29 uint8_t base;
scarter1 0:020db18a476d 30 } u_data;
scarter1 0:020db18a476d 31 u_data.real = this->data;
scarter1 0:020db18a476d 32 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 33 offset += sizeof(this->data);
scarter1 0:020db18a476d 34 return offset;
scarter1 0:020db18a476d 35 }
scarter1 0:020db18a476d 36
scarter1 0:020db18a476d 37 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 int offset = 0;
scarter1 0:020db18a476d 40 union {
scarter1 0:020db18a476d 41 bool real;
scarter1 0:020db18a476d 42 uint8_t base;
scarter1 0:020db18a476d 43 } u_data;
scarter1 0:020db18a476d 44 u_data.base = 0;
scarter1 0:020db18a476d 45 u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 46 this->data = u_data.real;
scarter1 0:020db18a476d 47 offset += sizeof(this->data);
scarter1 0:020db18a476d 48 return offset;
scarter1 0:020db18a476d 49 }
scarter1 0:020db18a476d 50
scarter1 0:020db18a476d 51 const char * getType(){ return SETBOOL; };
scarter1 0:020db18a476d 52 const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; };
scarter1 0:020db18a476d 53
scarter1 0:020db18a476d 54 };
scarter1 0:020db18a476d 55
scarter1 0:020db18a476d 56 class SetBoolResponse : public ros::Msg
scarter1 0:020db18a476d 57 {
scarter1 0:020db18a476d 58 public:
scarter1 0:020db18a476d 59 typedef bool _success_type;
scarter1 0:020db18a476d 60 _success_type success;
scarter1 0:020db18a476d 61 typedef const char* _message_type;
scarter1 0:020db18a476d 62 _message_type message;
scarter1 0:020db18a476d 63
scarter1 0:020db18a476d 64 SetBoolResponse():
scarter1 0:020db18a476d 65 success(0),
scarter1 0:020db18a476d 66 message("")
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 71 {
scarter1 0:020db18a476d 72 int offset = 0;
scarter1 0:020db18a476d 73 union {
scarter1 0:020db18a476d 74 bool real;
scarter1 0:020db18a476d 75 uint8_t base;
scarter1 0:020db18a476d 76 } u_success;
scarter1 0:020db18a476d 77 u_success.real = this->success;
scarter1 0:020db18a476d 78 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 79 offset += sizeof(this->success);
scarter1 0:020db18a476d 80 uint32_t length_message = strlen(this->message);
scarter1 0:020db18a476d 81 varToArr(outbuffer + offset, length_message);
scarter1 0:020db18a476d 82 offset += 4;
scarter1 0:020db18a476d 83 memcpy(outbuffer + offset, this->message, length_message);
scarter1 0:020db18a476d 84 offset += length_message;
scarter1 0:020db18a476d 85 return offset;
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87
scarter1 0:020db18a476d 88 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 89 {
scarter1 0:020db18a476d 90 int offset = 0;
scarter1 0:020db18a476d 91 union {
scarter1 0:020db18a476d 92 bool real;
scarter1 0:020db18a476d 93 uint8_t base;
scarter1 0:020db18a476d 94 } u_success;
scarter1 0:020db18a476d 95 u_success.base = 0;
scarter1 0:020db18a476d 96 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 97 this->success = u_success.real;
scarter1 0:020db18a476d 98 offset += sizeof(this->success);
scarter1 0:020db18a476d 99 uint32_t length_message;
scarter1 0:020db18a476d 100 arrToVar(length_message, (inbuffer + offset));
scarter1 0:020db18a476d 101 offset += 4;
scarter1 0:020db18a476d 102 for(unsigned int k= offset; k< offset+length_message; ++k){
scarter1 0:020db18a476d 103 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 104 }
scarter1 0:020db18a476d 105 inbuffer[offset+length_message-1]=0;
scarter1 0:020db18a476d 106 this->message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 107 offset += length_message;
scarter1 0:020db18a476d 108 return offset;
scarter1 0:020db18a476d 109 }
scarter1 0:020db18a476d 110
scarter1 0:020db18a476d 111 const char * getType(){ return SETBOOL; };
scarter1 0:020db18a476d 112 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
scarter1 0:020db18a476d 113
scarter1 0:020db18a476d 114 };
scarter1 0:020db18a476d 115
scarter1 0:020db18a476d 116 class SetBool {
scarter1 0:020db18a476d 117 public:
scarter1 0:020db18a476d 118 typedef SetBoolRequest Request;
scarter1 0:020db18a476d 119 typedef SetBoolResponse Response;
scarter1 0:020db18a476d 120 };
scarter1 0:020db18a476d 121
scarter1 0:020db18a476d 122 }
scarter1 0:020db18a476d 123 #endif