John Lam / ros_lib_melodic_

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

Dependencies:   BufferedSerial

controller_manager_msgs/SwitchController.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_SwitchController_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SwitchController_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 controller_manager_msgs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char SWITCHCONTROLLER[] = "controller_manager_msgs/SwitchController";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SwitchControllerRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 uint32_t start_controllers_length;
Gary Servin 0:04ac6be8229a 17 typedef char* _start_controllers_type;
Gary Servin 0:04ac6be8229a 18 _start_controllers_type st_start_controllers;
Gary Servin 0:04ac6be8229a 19 _start_controllers_type * start_controllers;
Gary Servin 0:04ac6be8229a 20 uint32_t stop_controllers_length;
Gary Servin 0:04ac6be8229a 21 typedef char* _stop_controllers_type;
Gary Servin 0:04ac6be8229a 22 _stop_controllers_type st_stop_controllers;
Gary Servin 0:04ac6be8229a 23 _stop_controllers_type * stop_controllers;
Gary Servin 0:04ac6be8229a 24 typedef int32_t _strictness_type;
Gary Servin 0:04ac6be8229a 25 _strictness_type strictness;
Gary Servin 0:04ac6be8229a 26 enum { BEST_EFFORT = 1 };
Gary Servin 0:04ac6be8229a 27 enum { STRICT = 2 };
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 SwitchControllerRequest():
Gary Servin 0:04ac6be8229a 30 start_controllers_length(0), start_controllers(NULL),
Gary Servin 0:04ac6be8229a 31 stop_controllers_length(0), stop_controllers(NULL),
Gary Servin 0:04ac6be8229a 32 strictness(0)
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 }
Gary Servin 0:04ac6be8229a 35
Gary Servin 0:04ac6be8229a 36 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 37 {
Gary Servin 0:04ac6be8229a 38 int offset = 0;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (this->start_controllers_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (this->start_controllers_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (this->start_controllers_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (this->start_controllers_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 offset += sizeof(this->start_controllers_length);
Gary Servin 0:04ac6be8229a 44 for( uint32_t i = 0; i < start_controllers_length; i++){
Gary Servin 0:04ac6be8229a 45 uint32_t length_start_controllersi = strlen(this->start_controllers[i]);
Gary Servin 0:04ac6be8229a 46 varToArr(outbuffer + offset, length_start_controllersi);
Gary Servin 0:04ac6be8229a 47 offset += 4;
Gary Servin 0:04ac6be8229a 48 memcpy(outbuffer + offset, this->start_controllers[i], length_start_controllersi);
Gary Servin 0:04ac6be8229a 49 offset += length_start_controllersi;
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 0) = (this->stop_controllers_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 1) = (this->stop_controllers_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 2) = (this->stop_controllers_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 3) = (this->stop_controllers_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->stop_controllers_length);
Gary Servin 0:04ac6be8229a 56 for( uint32_t i = 0; i < stop_controllers_length; i++){
Gary Servin 0:04ac6be8229a 57 uint32_t length_stop_controllersi = strlen(this->stop_controllers[i]);
Gary Servin 0:04ac6be8229a 58 varToArr(outbuffer + offset, length_stop_controllersi);
Gary Servin 0:04ac6be8229a 59 offset += 4;
Gary Servin 0:04ac6be8229a 60 memcpy(outbuffer + offset, this->stop_controllers[i], length_stop_controllersi);
Gary Servin 0:04ac6be8229a 61 offset += length_stop_controllersi;
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63 union {
Gary Servin 0:04ac6be8229a 64 int32_t real;
Gary Servin 0:04ac6be8229a 65 uint32_t base;
Gary Servin 0:04ac6be8229a 66 } u_strictness;
Gary Servin 0:04ac6be8229a 67 u_strictness.real = this->strictness;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 0) = (u_strictness.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 1) = (u_strictness.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 2) = (u_strictness.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 3) = (u_strictness.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 offset += sizeof(this->strictness);
Gary Servin 0:04ac6be8229a 73 return offset;
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 77 {
Gary Servin 0:04ac6be8229a 78 int offset = 0;
Gary Servin 0:04ac6be8229a 79 uint32_t start_controllers_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 80 start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 81 start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 82 start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 83 offset += sizeof(this->start_controllers_length);
Gary Servin 0:04ac6be8229a 84 if(start_controllers_lengthT > start_controllers_length)
Gary Servin 0:04ac6be8229a 85 this->start_controllers = (char**)realloc(this->start_controllers, start_controllers_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 86 start_controllers_length = start_controllers_lengthT;
Gary Servin 0:04ac6be8229a 87 for( uint32_t i = 0; i < start_controllers_length; i++){
Gary Servin 0:04ac6be8229a 88 uint32_t length_st_start_controllers;
Gary Servin 0:04ac6be8229a 89 arrToVar(length_st_start_controllers, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 90 offset += 4;
Gary Servin 0:04ac6be8229a 91 for(unsigned int k= offset; k< offset+length_st_start_controllers; ++k){
Gary Servin 0:04ac6be8229a 92 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 93 }
Gary Servin 0:04ac6be8229a 94 inbuffer[offset+length_st_start_controllers-1]=0;
Gary Servin 0:04ac6be8229a 95 this->st_start_controllers = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 96 offset += length_st_start_controllers;
Gary Servin 0:04ac6be8229a 97 memcpy( &(this->start_controllers[i]), &(this->st_start_controllers), sizeof(char*));
Gary Servin 0:04ac6be8229a 98 }
Gary Servin 0:04ac6be8229a 99 uint32_t stop_controllers_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 100 stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 101 stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 102 stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 103 offset += sizeof(this->stop_controllers_length);
Gary Servin 0:04ac6be8229a 104 if(stop_controllers_lengthT > stop_controllers_length)
Gary Servin 0:04ac6be8229a 105 this->stop_controllers = (char**)realloc(this->stop_controllers, stop_controllers_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 106 stop_controllers_length = stop_controllers_lengthT;
Gary Servin 0:04ac6be8229a 107 for( uint32_t i = 0; i < stop_controllers_length; i++){
Gary Servin 0:04ac6be8229a 108 uint32_t length_st_stop_controllers;
Gary Servin 0:04ac6be8229a 109 arrToVar(length_st_stop_controllers, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 110 offset += 4;
Gary Servin 0:04ac6be8229a 111 for(unsigned int k= offset; k< offset+length_st_stop_controllers; ++k){
Gary Servin 0:04ac6be8229a 112 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 113 }
Gary Servin 0:04ac6be8229a 114 inbuffer[offset+length_st_stop_controllers-1]=0;
Gary Servin 0:04ac6be8229a 115 this->st_stop_controllers = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 116 offset += length_st_stop_controllers;
Gary Servin 0:04ac6be8229a 117 memcpy( &(this->stop_controllers[i]), &(this->st_stop_controllers), sizeof(char*));
Gary Servin 0:04ac6be8229a 118 }
Gary Servin 0:04ac6be8229a 119 union {
Gary Servin 0:04ac6be8229a 120 int32_t real;
Gary Servin 0:04ac6be8229a 121 uint32_t base;
Gary Servin 0:04ac6be8229a 122 } u_strictness;
Gary Servin 0:04ac6be8229a 123 u_strictness.base = 0;
Gary Servin 0:04ac6be8229a 124 u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 125 u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 126 u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 127 u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 128 this->strictness = u_strictness.real;
Gary Servin 0:04ac6be8229a 129 offset += sizeof(this->strictness);
Gary Servin 0:04ac6be8229a 130 return offset;
Gary Servin 0:04ac6be8229a 131 }
Gary Servin 0:04ac6be8229a 132
Gary Servin 0:04ac6be8229a 133 const char * getType(){ return SWITCHCONTROLLER; };
Gary Servin 0:04ac6be8229a 134 const char * getMD5(){ return "434da54adc434a5af5743ed711fd6ba1"; };
Gary Servin 0:04ac6be8229a 135
Gary Servin 0:04ac6be8229a 136 };
Gary Servin 0:04ac6be8229a 137
Gary Servin 0:04ac6be8229a 138 class SwitchControllerResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 139 {
Gary Servin 0:04ac6be8229a 140 public:
Gary Servin 0:04ac6be8229a 141 typedef bool _ok_type;
Gary Servin 0:04ac6be8229a 142 _ok_type ok;
Gary Servin 0:04ac6be8229a 143
Gary Servin 0:04ac6be8229a 144 SwitchControllerResponse():
Gary Servin 0:04ac6be8229a 145 ok(0)
Gary Servin 0:04ac6be8229a 146 {
Gary Servin 0:04ac6be8229a 147 }
Gary Servin 0:04ac6be8229a 148
Gary Servin 0:04ac6be8229a 149 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 150 {
Gary Servin 0:04ac6be8229a 151 int offset = 0;
Gary Servin 0:04ac6be8229a 152 union {
Gary Servin 0:04ac6be8229a 153 bool real;
Gary Servin 0:04ac6be8229a 154 uint8_t base;
Gary Servin 0:04ac6be8229a 155 } u_ok;
Gary Servin 0:04ac6be8229a 156 u_ok.real = this->ok;
Gary Servin 0:04ac6be8229a 157 *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 158 offset += sizeof(this->ok);
Gary Servin 0:04ac6be8229a 159 return offset;
Gary Servin 0:04ac6be8229a 160 }
Gary Servin 0:04ac6be8229a 161
Gary Servin 0:04ac6be8229a 162 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 163 {
Gary Servin 0:04ac6be8229a 164 int offset = 0;
Gary Servin 0:04ac6be8229a 165 union {
Gary Servin 0:04ac6be8229a 166 bool real;
Gary Servin 0:04ac6be8229a 167 uint8_t base;
Gary Servin 0:04ac6be8229a 168 } u_ok;
Gary Servin 0:04ac6be8229a 169 u_ok.base = 0;
Gary Servin 0:04ac6be8229a 170 u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 171 this->ok = u_ok.real;
Gary Servin 0:04ac6be8229a 172 offset += sizeof(this->ok);
Gary Servin 0:04ac6be8229a 173 return offset;
Gary Servin 0:04ac6be8229a 174 }
Gary Servin 0:04ac6be8229a 175
Gary Servin 0:04ac6be8229a 176 const char * getType(){ return SWITCHCONTROLLER; };
Gary Servin 0:04ac6be8229a 177 const char * getMD5(){ return "6f6da3883749771fac40d6deb24a8c02"; };
Gary Servin 0:04ac6be8229a 178
Gary Servin 0:04ac6be8229a 179 };
Gary Servin 0:04ac6be8229a 180
Gary Servin 0:04ac6be8229a 181 class SwitchController {
Gary Servin 0:04ac6be8229a 182 public:
Gary Servin 0:04ac6be8229a 183 typedef SwitchControllerRequest Request;
Gary Servin 0:04ac6be8229a 184 typedef SwitchControllerResponse Response;
Gary Servin 0:04ac6be8229a 185 };
Gary Servin 0:04ac6be8229a 186
Gary Servin 0:04ac6be8229a 187 }
Gary Servin 0:04ac6be8229a 188 #endif