rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
pr2_mechanism_msgs/SwitchController.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_SwitchController_h #define _ROS_SERVICE_SwitchController_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace pr2_mechanism_msgs { static const char SWITCHCONTROLLER[] = "pr2_mechanism_msgs/SwitchController"; class SwitchControllerRequest : public ros::Msg { public: uint8_t start_controllers_length; char* st_start_controllers; char* * start_controllers; uint8_t stop_controllers_length; char* st_stop_controllers; char* * stop_controllers; int32_t strictness; enum { BEST_EFFORT = 1 }; enum { STRICT = 2 }; SwitchControllerRequest(): start_controllers_length(0), start_controllers(NULL), stop_controllers_length(0), stop_controllers(NULL), strictness(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = start_controllers_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < start_controllers_length; i++){ uint32_t length_start_controllersi = strlen(this->start_controllers[i]); memcpy(outbuffer + offset, &length_start_controllersi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->start_controllers[i], length_start_controllersi); offset += length_start_controllersi; } *(outbuffer + offset++) = stop_controllers_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < stop_controllers_length; i++){ uint32_t length_stop_controllersi = strlen(this->stop_controllers[i]); memcpy(outbuffer + offset, &length_stop_controllersi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->stop_controllers[i], length_stop_controllersi); offset += length_stop_controllersi; } union { int32_t real; uint32_t base; } u_strictness; u_strictness.real = this->strictness; *(outbuffer + offset + 0) = (u_strictness.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_strictness.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_strictness.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_strictness.base >> (8 * 3)) & 0xFF; offset += sizeof(this->strictness); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t start_controllers_lengthT = *(inbuffer + offset++); if(start_controllers_lengthT > start_controllers_length) this->start_controllers = (char**)realloc(this->start_controllers, start_controllers_lengthT * sizeof(char*)); offset += 3; start_controllers_length = start_controllers_lengthT; for( uint8_t i = 0; i < start_controllers_length; i++){ uint32_t length_st_start_controllers; memcpy(&length_st_start_controllers, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_start_controllers; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_start_controllers-1]=0; this->st_start_controllers = (char *)(inbuffer + offset-1); offset += length_st_start_controllers; memcpy( &(this->start_controllers[i]), &(this->st_start_controllers), sizeof(char*)); } uint8_t stop_controllers_lengthT = *(inbuffer + offset++); if(stop_controllers_lengthT > stop_controllers_length) this->stop_controllers = (char**)realloc(this->stop_controllers, stop_controllers_lengthT * sizeof(char*)); offset += 3; stop_controllers_length = stop_controllers_lengthT; for( uint8_t i = 0; i < stop_controllers_length; i++){ uint32_t length_st_stop_controllers; memcpy(&length_st_stop_controllers, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_stop_controllers; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_stop_controllers-1]=0; this->st_stop_controllers = (char *)(inbuffer + offset-1); offset += length_st_stop_controllers; memcpy( &(this->stop_controllers[i]), &(this->st_stop_controllers), sizeof(char*)); } union { int32_t real; uint32_t base; } u_strictness; u_strictness.base = 0; u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->strictness = u_strictness.real; offset += sizeof(this->strictness); return offset; } const char * getType(){ return SWITCHCONTROLLER; }; const char * getMD5(){ return "434da54adc434a5af5743ed711fd6ba1"; }; }; class SwitchControllerResponse : public ros::Msg { public: bool ok; SwitchControllerResponse(): ok(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { bool real; uint8_t base; } u_ok; u_ok.real = this->ok; *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF; offset += sizeof(this->ok); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { bool real; uint8_t base; } u_ok; u_ok.base = 0; u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->ok = u_ok.real; offset += sizeof(this->ok); return offset; } const char * getType(){ return SWITCHCONTROLLER; }; const char * getMD5(){ return "6f6da3883749771fac40d6deb24a8c02"; }; }; class SwitchController { public: typedef SwitchControllerRequest Request; typedef SwitchControllerResponse Response; }; } #endif