ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
std_srvs/SetBool.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_SetBool_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_SetBool_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace std_srvs |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char SETBOOL[] = "std_srvs/SetBool"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class SetBoolRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef bool _data_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _data_type data; |
garyservin | 0:9e9b7db60fd5 | 18 | |
garyservin | 0:9e9b7db60fd5 | 19 | SetBoolRequest(): |
garyservin | 0:9e9b7db60fd5 | 20 | data(0) |
garyservin | 0:9e9b7db60fd5 | 21 | { |
garyservin | 0:9e9b7db60fd5 | 22 | } |
garyservin | 0:9e9b7db60fd5 | 23 | |
garyservin | 0:9e9b7db60fd5 | 24 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 25 | { |
garyservin | 0:9e9b7db60fd5 | 26 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 27 | union { |
garyservin | 0:9e9b7db60fd5 | 28 | bool real; |
garyservin | 0:9e9b7db60fd5 | 29 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 30 | } u_data; |
garyservin | 0:9e9b7db60fd5 | 31 | u_data.real = this->data; |
garyservin | 0:9e9b7db60fd5 | 32 | *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 33 | offset += sizeof(this->data); |
garyservin | 0:9e9b7db60fd5 | 34 | return offset; |
garyservin | 0:9e9b7db60fd5 | 35 | } |
garyservin | 0:9e9b7db60fd5 | 36 | |
garyservin | 0:9e9b7db60fd5 | 37 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 38 | { |
garyservin | 0:9e9b7db60fd5 | 39 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 40 | union { |
garyservin | 0:9e9b7db60fd5 | 41 | bool real; |
garyservin | 0:9e9b7db60fd5 | 42 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 43 | } u_data; |
garyservin | 0:9e9b7db60fd5 | 44 | u_data.base = 0; |
garyservin | 0:9e9b7db60fd5 | 45 | u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 46 | this->data = u_data.real; |
garyservin | 0:9e9b7db60fd5 | 47 | offset += sizeof(this->data); |
garyservin | 0:9e9b7db60fd5 | 48 | return offset; |
garyservin | 0:9e9b7db60fd5 | 49 | } |
garyservin | 0:9e9b7db60fd5 | 50 | |
garyservin | 0:9e9b7db60fd5 | 51 | const char * getType(){ return SETBOOL; }; |
garyservin | 0:9e9b7db60fd5 | 52 | const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; }; |
garyservin | 0:9e9b7db60fd5 | 53 | |
garyservin | 0:9e9b7db60fd5 | 54 | }; |
garyservin | 0:9e9b7db60fd5 | 55 | |
garyservin | 0:9e9b7db60fd5 | 56 | class SetBoolResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 57 | { |
garyservin | 0:9e9b7db60fd5 | 58 | public: |
garyservin | 0:9e9b7db60fd5 | 59 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 60 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 61 | typedef const char* _message_type; |
garyservin | 0:9e9b7db60fd5 | 62 | _message_type message; |
garyservin | 0:9e9b7db60fd5 | 63 | |
garyservin | 0:9e9b7db60fd5 | 64 | SetBoolResponse(): |
garyservin | 0:9e9b7db60fd5 | 65 | success(0), |
garyservin | 0:9e9b7db60fd5 | 66 | message("") |
garyservin | 0:9e9b7db60fd5 | 67 | { |
garyservin | 0:9e9b7db60fd5 | 68 | } |
garyservin | 0:9e9b7db60fd5 | 69 | |
garyservin | 0:9e9b7db60fd5 | 70 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 71 | { |
garyservin | 0:9e9b7db60fd5 | 72 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 73 | union { |
garyservin | 0:9e9b7db60fd5 | 74 | bool real; |
garyservin | 0:9e9b7db60fd5 | 75 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 76 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 77 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 78 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 79 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 80 | uint32_t length_message = strlen(this->message); |
garyservin | 0:9e9b7db60fd5 | 81 | varToArr(outbuffer + offset, length_message); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 83 | memcpy(outbuffer + offset, this->message, length_message); |
garyservin | 0:9e9b7db60fd5 | 84 | offset += length_message; |
garyservin | 0:9e9b7db60fd5 | 85 | return offset; |
garyservin | 0:9e9b7db60fd5 | 86 | } |
garyservin | 0:9e9b7db60fd5 | 87 | |
garyservin | 0:9e9b7db60fd5 | 88 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 89 | { |
garyservin | 0:9e9b7db60fd5 | 90 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 91 | union { |
garyservin | 0:9e9b7db60fd5 | 92 | bool real; |
garyservin | 0:9e9b7db60fd5 | 93 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 94 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 95 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 96 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 97 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 98 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 99 | uint32_t length_message; |
garyservin | 0:9e9b7db60fd5 | 100 | arrToVar(length_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 101 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 102 | for(unsigned int k= offset; k< offset+length_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 103 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 104 | } |
garyservin | 0:9e9b7db60fd5 | 105 | inbuffer[offset+length_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 106 | this->message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 107 | offset += length_message; |
garyservin | 0:9e9b7db60fd5 | 108 | return offset; |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | |
garyservin | 0:9e9b7db60fd5 | 111 | const char * getType(){ return SETBOOL; }; |
garyservin | 0:9e9b7db60fd5 | 112 | const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; }; |
garyservin | 0:9e9b7db60fd5 | 113 | |
garyservin | 0:9e9b7db60fd5 | 114 | }; |
garyservin | 0:9e9b7db60fd5 | 115 | |
garyservin | 0:9e9b7db60fd5 | 116 | class SetBool { |
garyservin | 0:9e9b7db60fd5 | 117 | public: |
garyservin | 0:9e9b7db60fd5 | 118 | typedef SetBoolRequest Request; |
garyservin | 0:9e9b7db60fd5 | 119 | typedef SetBoolResponse Response; |
garyservin | 0:9e9b7db60fd5 | 120 | }; |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | #endif |