Seokyong Song / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

std_srvs/SetBool.h@2:65cba0dcf634, 2022-01-27 (annotated)

Committer:
gosari
Date:
Thu Jan 27 11:36:16 2022 +0000
Revision:
2:65cba0dcf634
Parent:
0:9e9b7db60fd5 
for message communication with mbed

Who changed what in which revision?

UserRevisionLine numberNew 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