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/Trigger.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_Trigger_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_Trigger_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 TRIGGER[] = "std_srvs/Trigger";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TriggerRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 TriggerRequest()
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 }
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 int offset = 0;
garyservin 0:9e9b7db60fd5 24 return offset;
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 return offset;
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 const char * getType(){ return TRIGGER; };
garyservin 0:9e9b7db60fd5 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 class TriggerResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 42 _success_type success;
garyservin 0:9e9b7db60fd5 43 typedef const char* _message_type;
garyservin 0:9e9b7db60fd5 44 _message_type message;
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 TriggerResponse():
garyservin 0:9e9b7db60fd5 47 success(0),
garyservin 0:9e9b7db60fd5 48 message("")
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 bool real;
garyservin 0:9e9b7db60fd5 57 uint8_t base;
garyservin 0:9e9b7db60fd5 58 } u_success;
garyservin 0:9e9b7db60fd5 59 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 62 uint32_t length_message = strlen(this->message);
garyservin 0:9e9b7db60fd5 63 varToArr(outbuffer + offset, length_message);
garyservin 0:9e9b7db60fd5 64 offset += 4;
garyservin 0:9e9b7db60fd5 65 memcpy(outbuffer + offset, this->message, length_message);
garyservin 0:9e9b7db60fd5 66 offset += length_message;
garyservin 0:9e9b7db60fd5 67 return offset;
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 virtual int deserialize(unsigned char *inbuffer)
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.base = 0;
garyservin 0:9e9b7db60fd5 78 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 79 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 80 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 81 uint32_t length_message;
garyservin 0:9e9b7db60fd5 82 arrToVar(length_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 83 offset += 4;
garyservin 0:9e9b7db60fd5 84 for(unsigned int k= offset; k< offset+length_message; ++k){
garyservin 0:9e9b7db60fd5 85 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 inbuffer[offset+length_message-1]=0;
garyservin 0:9e9b7db60fd5 88 this->message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 89 offset += length_message;
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 const char * getType(){ return TRIGGER; };
garyservin 0:9e9b7db60fd5 94 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 class Trigger {
garyservin 0:9e9b7db60fd5 99 public:
garyservin 0:9e9b7db60fd5 100 typedef TriggerRequest Request;
garyservin 0:9e9b7db60fd5 101 typedef TriggerResponse Response;
garyservin 0:9e9b7db60fd5 102 };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105 #endif