John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

std_srvs/SetBool.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_SetBool_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetBool_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7
Gary Servin 0:04ac6be8229a 8 namespace std_srvs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char SETBOOL[] = "std_srvs/SetBool";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SetBoolRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef bool _data_type;
Gary Servin 0:04ac6be8229a 17 _data_type data;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 SetBoolRequest():
Gary Servin 0:04ac6be8229a 20 data(0)
Gary Servin 0:04ac6be8229a 21 {
Gary Servin 0:04ac6be8229a 22 }
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 int offset = 0;
Gary Servin 0:04ac6be8229a 27 union {
Gary Servin 0:04ac6be8229a 28 bool real;
Gary Servin 0:04ac6be8229a 29 uint8_t base;
Gary Servin 0:04ac6be8229a 30 } u_data;
Gary Servin 0:04ac6be8229a 31 u_data.real = this->data;
Gary Servin 0:04ac6be8229a 32 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 offset += sizeof(this->data);
Gary Servin 0:04ac6be8229a 34 return offset;
Gary Servin 0:04ac6be8229a 35 }
Gary Servin 0:04ac6be8229a 36
Gary Servin 0:04ac6be8229a 37 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 int offset = 0;
Gary Servin 0:04ac6be8229a 40 union {
Gary Servin 0:04ac6be8229a 41 bool real;
Gary Servin 0:04ac6be8229a 42 uint8_t base;
Gary Servin 0:04ac6be8229a 43 } u_data;
Gary Servin 0:04ac6be8229a 44 u_data.base = 0;
Gary Servin 0:04ac6be8229a 45 u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 46 this->data = u_data.real;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->data);
Gary Servin 0:04ac6be8229a 48 return offset;
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50
Gary Servin 0:04ac6be8229a 51 const char * getType(){ return SETBOOL; };
Gary Servin 0:04ac6be8229a 52 const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; };
Gary Servin 0:04ac6be8229a 53
Gary Servin 0:04ac6be8229a 54 };
Gary Servin 0:04ac6be8229a 55
Gary Servin 0:04ac6be8229a 56 class SetBoolResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 57 {
Gary Servin 0:04ac6be8229a 58 public:
Gary Servin 0:04ac6be8229a 59 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 60 _success_type success;
Gary Servin 0:04ac6be8229a 61 typedef const char* _message_type;
Gary Servin 0:04ac6be8229a 62 _message_type message;
Gary Servin 0:04ac6be8229a 63
Gary Servin 0:04ac6be8229a 64 SetBoolResponse():
Gary Servin 0:04ac6be8229a 65 success(0),
Gary Servin 0:04ac6be8229a 66 message("")
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 71 {
Gary Servin 0:04ac6be8229a 72 int offset = 0;
Gary Servin 0:04ac6be8229a 73 union {
Gary Servin 0:04ac6be8229a 74 bool real;
Gary Servin 0:04ac6be8229a 75 uint8_t base;
Gary Servin 0:04ac6be8229a 76 } u_success;
Gary Servin 0:04ac6be8229a 77 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 80 uint32_t length_message = strlen(this->message);
Gary Servin 0:04ac6be8229a 81 varToArr(outbuffer + offset, length_message);
Gary Servin 0:04ac6be8229a 82 offset += 4;
Gary Servin 0:04ac6be8229a 83 memcpy(outbuffer + offset, this->message, length_message);
Gary Servin 0:04ac6be8229a 84 offset += length_message;
Gary Servin 0:04ac6be8229a 85 return offset;
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87
Gary Servin 0:04ac6be8229a 88 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 89 {
Gary Servin 0:04ac6be8229a 90 int offset = 0;
Gary Servin 0:04ac6be8229a 91 union {
Gary Servin 0:04ac6be8229a 92 bool real;
Gary Servin 0:04ac6be8229a 93 uint8_t base;
Gary Servin 0:04ac6be8229a 94 } u_success;
Gary Servin 0:04ac6be8229a 95 u_success.base = 0;
Gary Servin 0:04ac6be8229a 96 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 97 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 99 uint32_t length_message;
Gary Servin 0:04ac6be8229a 100 arrToVar(length_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 101 offset += 4;
Gary Servin 0:04ac6be8229a 102 for(unsigned int k= offset; k< offset+length_message; ++k){
Gary Servin 0:04ac6be8229a 103 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105 inbuffer[offset+length_message-1]=0;
Gary Servin 0:04ac6be8229a 106 this->message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 107 offset += length_message;
Gary Servin 0:04ac6be8229a 108 return offset;
Gary Servin 0:04ac6be8229a 109 }
Gary Servin 0:04ac6be8229a 110
Gary Servin 0:04ac6be8229a 111 const char * getType(){ return SETBOOL; };
Gary Servin 0:04ac6be8229a 112 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
Gary Servin 0:04ac6be8229a 113
Gary Servin 0:04ac6be8229a 114 };
Gary Servin 0:04ac6be8229a 115
Gary Servin 0:04ac6be8229a 116 class SetBool {
Gary Servin 0:04ac6be8229a 117 public:
Gary Servin 0:04ac6be8229a 118 typedef SetBoolRequest Request;
Gary Servin 0:04ac6be8229a 119 typedef SetBoolResponse Response;
Gary Servin 0:04ac6be8229a 120 };
Gary Servin 0:04ac6be8229a 121
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123 #endif