Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/std_srvs/Trigger.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_Trigger_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_Trigger_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 TRIGGER[] = "std_srvs/Trigger";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class TriggerRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16
scarter1 0:020db18a476d 17 TriggerRequest()
scarter1 0:020db18a476d 18 {
scarter1 0:020db18a476d 19 }
scarter1 0:020db18a476d 20
scarter1 0:020db18a476d 21 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 22 {
scarter1 0:020db18a476d 23 int offset = 0;
scarter1 0:020db18a476d 24 return offset;
scarter1 0:020db18a476d 25 }
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 28 {
scarter1 0:020db18a476d 29 int offset = 0;
scarter1 0:020db18a476d 30 return offset;
scarter1 0:020db18a476d 31 }
scarter1 0:020db18a476d 32
scarter1 0:020db18a476d 33 const char * getType(){ return TRIGGER; };
scarter1 0:020db18a476d 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 35
scarter1 0:020db18a476d 36 };
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 class TriggerResponse : public ros::Msg
scarter1 0:020db18a476d 39 {
scarter1 0:020db18a476d 40 public:
scarter1 0:020db18a476d 41 typedef bool _success_type;
scarter1 0:020db18a476d 42 _success_type success;
scarter1 0:020db18a476d 43 typedef const char* _message_type;
scarter1 0:020db18a476d 44 _message_type message;
scarter1 0:020db18a476d 45
scarter1 0:020db18a476d 46 TriggerResponse():
scarter1 0:020db18a476d 47 success(0),
scarter1 0:020db18a476d 48 message("")
scarter1 0:020db18a476d 49 {
scarter1 0:020db18a476d 50 }
scarter1 0:020db18a476d 51
scarter1 0:020db18a476d 52 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 53 {
scarter1 0:020db18a476d 54 int offset = 0;
scarter1 0:020db18a476d 55 union {
scarter1 0:020db18a476d 56 bool real;
scarter1 0:020db18a476d 57 uint8_t base;
scarter1 0:020db18a476d 58 } u_success;
scarter1 0:020db18a476d 59 u_success.real = this->success;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 61 offset += sizeof(this->success);
scarter1 0:020db18a476d 62 uint32_t length_message = strlen(this->message);
scarter1 0:020db18a476d 63 varToArr(outbuffer + offset, length_message);
scarter1 0:020db18a476d 64 offset += 4;
scarter1 0:020db18a476d 65 memcpy(outbuffer + offset, this->message, length_message);
scarter1 0:020db18a476d 66 offset += length_message;
scarter1 0:020db18a476d 67 return offset;
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 virtual int deserialize(unsigned char *inbuffer)
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.base = 0;
scarter1 0:020db18a476d 78 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 79 this->success = u_success.real;
scarter1 0:020db18a476d 80 offset += sizeof(this->success);
scarter1 0:020db18a476d 81 uint32_t length_message;
scarter1 0:020db18a476d 82 arrToVar(length_message, (inbuffer + offset));
scarter1 0:020db18a476d 83 offset += 4;
scarter1 0:020db18a476d 84 for(unsigned int k= offset; k< offset+length_message; ++k){
scarter1 0:020db18a476d 85 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87 inbuffer[offset+length_message-1]=0;
scarter1 0:020db18a476d 88 this->message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 89 offset += length_message;
scarter1 0:020db18a476d 90 return offset;
scarter1 0:020db18a476d 91 }
scarter1 0:020db18a476d 92
scarter1 0:020db18a476d 93 const char * getType(){ return TRIGGER; };
scarter1 0:020db18a476d 94 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
scarter1 0:020db18a476d 95
scarter1 0:020db18a476d 96 };
scarter1 0:020db18a476d 97
scarter1 0:020db18a476d 98 class Trigger {
scarter1 0:020db18a476d 99 public:
scarter1 0:020db18a476d 100 typedef TriggerRequest Request;
scarter1 0:020db18a476d 101 typedef TriggerResponse Response;
scarter1 0:020db18a476d 102 };
scarter1 0:020db18a476d 103
scarter1 0:020db18a476d 104 }
scarter1 0:020db18a476d 105 #endif