make changes on buffer serial
Diff: controller_manager_msgs/SwitchController.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a controller_manager_msgs/SwitchController.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/controller_manager_msgs/SwitchController.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,188 @@ +#ifndef _ROS_SERVICE_SwitchController_h +#define _ROS_SERVICE_SwitchController_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace controller_manager_msgs +{ + +static const char SWITCHCONTROLLER[] = "controller_manager_msgs/SwitchController"; + + class SwitchControllerRequest : public ros::Msg + { + public: + uint32_t start_controllers_length; + typedef char* _start_controllers_type; + _start_controllers_type st_start_controllers; + _start_controllers_type * start_controllers; + uint32_t stop_controllers_length; + typedef char* _stop_controllers_type; + _stop_controllers_type st_stop_controllers; + _stop_controllers_type * stop_controllers; + typedef int32_t _strictness_type; + _strictness_type 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 + 0) = (this->start_controllers_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->start_controllers_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->start_controllers_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->start_controllers_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->start_controllers_length); + for( uint32_t i = 0; i < start_controllers_length; i++){ + uint32_t length_start_controllersi = strlen(this->start_controllers[i]); + varToArr(outbuffer + offset, length_start_controllersi); + offset += 4; + memcpy(outbuffer + offset, this->start_controllers[i], length_start_controllersi); + offset += length_start_controllersi; + } + *(outbuffer + offset + 0) = (this->stop_controllers_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->stop_controllers_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->stop_controllers_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->stop_controllers_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->stop_controllers_length); + for( uint32_t i = 0; i < stop_controllers_length; i++){ + uint32_t length_stop_controllersi = strlen(this->stop_controllers[i]); + varToArr(outbuffer + offset, length_stop_controllersi); + 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; + uint32_t start_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); + start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->start_controllers_length); + if(start_controllers_lengthT > start_controllers_length) + this->start_controllers = (char**)realloc(this->start_controllers, start_controllers_lengthT * sizeof(char*)); + start_controllers_length = start_controllers_lengthT; + for( uint32_t i = 0; i < start_controllers_length; i++){ + uint32_t length_st_start_controllers; + arrToVar(length_st_start_controllers, (inbuffer + offset)); + 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*)); + } + uint32_t stop_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); + stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->stop_controllers_length); + if(stop_controllers_lengthT > stop_controllers_length) + this->stop_controllers = (char**)realloc(this->stop_controllers, stop_controllers_lengthT * sizeof(char*)); + stop_controllers_length = stop_controllers_lengthT; + for( uint32_t i = 0; i < stop_controllers_length; i++){ + uint32_t length_st_stop_controllers; + arrToVar(length_st_stop_controllers, (inbuffer + offset)); + 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: + typedef bool _ok_type; + _ok_type 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