Irfan Tito Kurniawan
/
ros_lib
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CommandLong.h
00001 #ifndef _ROS_SERVICE_CommandLong_h 00002 #define _ROS_SERVICE_CommandLong_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 00008 namespace mavros_msgs 00009 { 00010 00011 static const char COMMANDLONG[] = "mavros_msgs/CommandLong"; 00012 00013 class CommandLongRequest : public ros::Msg 00014 { 00015 public: 00016 typedef bool _broadcast_type; 00017 _broadcast_type broadcast; 00018 typedef uint16_t _command_type; 00019 _command_type command; 00020 typedef uint8_t _confirmation_type; 00021 _confirmation_type confirmation; 00022 typedef float _param1_type; 00023 _param1_type param1; 00024 typedef float _param2_type; 00025 _param2_type param2; 00026 typedef float _param3_type; 00027 _param3_type param3; 00028 typedef float _param4_type; 00029 _param4_type param4; 00030 typedef float _param5_type; 00031 _param5_type param5; 00032 typedef float _param6_type; 00033 _param6_type param6; 00034 typedef float _param7_type; 00035 _param7_type param7; 00036 00037 CommandLongRequest(): 00038 broadcast(0), 00039 command(0), 00040 confirmation(0), 00041 param1(0), 00042 param2(0), 00043 param3(0), 00044 param4(0), 00045 param5(0), 00046 param6(0), 00047 param7(0) 00048 { 00049 } 00050 00051 virtual int serialize(unsigned char *outbuffer) const 00052 { 00053 int offset = 0; 00054 union { 00055 bool real; 00056 uint8_t base; 00057 } u_broadcast; 00058 u_broadcast.real = this->broadcast; 00059 *(outbuffer + offset + 0) = (u_broadcast.base >> (8 * 0)) & 0xFF; 00060 offset += sizeof(this->broadcast); 00061 *(outbuffer + offset + 0) = (this->command >> (8 * 0)) & 0xFF; 00062 *(outbuffer + offset + 1) = (this->command >> (8 * 1)) & 0xFF; 00063 offset += sizeof(this->command); 00064 *(outbuffer + offset + 0) = (this->confirmation >> (8 * 0)) & 0xFF; 00065 offset += sizeof(this->confirmation); 00066 union { 00067 float real; 00068 uint32_t base; 00069 } u_param1; 00070 u_param1.real = this->param1; 00071 *(outbuffer + offset + 0) = (u_param1.base >> (8 * 0)) & 0xFF; 00072 *(outbuffer + offset + 1) = (u_param1.base >> (8 * 1)) & 0xFF; 00073 *(outbuffer + offset + 2) = (u_param1.base >> (8 * 2)) & 0xFF; 00074 *(outbuffer + offset + 3) = (u_param1.base >> (8 * 3)) & 0xFF; 00075 offset += sizeof(this->param1); 00076 union { 00077 float real; 00078 uint32_t base; 00079 } u_param2; 00080 u_param2.real = this->param2; 00081 *(outbuffer + offset + 0) = (u_param2.base >> (8 * 0)) & 0xFF; 00082 *(outbuffer + offset + 1) = (u_param2.base >> (8 * 1)) & 0xFF; 00083 *(outbuffer + offset + 2) = (u_param2.base >> (8 * 2)) & 0xFF; 00084 *(outbuffer + offset + 3) = (u_param2.base >> (8 * 3)) & 0xFF; 00085 offset += sizeof(this->param2); 00086 union { 00087 float real; 00088 uint32_t base; 00089 } u_param3; 00090 u_param3.real = this->param3; 00091 *(outbuffer + offset + 0) = (u_param3.base >> (8 * 0)) & 0xFF; 00092 *(outbuffer + offset + 1) = (u_param3.base >> (8 * 1)) & 0xFF; 00093 *(outbuffer + offset + 2) = (u_param3.base >> (8 * 2)) & 0xFF; 00094 *(outbuffer + offset + 3) = (u_param3.base >> (8 * 3)) & 0xFF; 00095 offset += sizeof(this->param3); 00096 union { 00097 float real; 00098 uint32_t base; 00099 } u_param4; 00100 u_param4.real = this->param4; 00101 *(outbuffer + offset + 0) = (u_param4.base >> (8 * 0)) & 0xFF; 00102 *(outbuffer + offset + 1) = (u_param4.base >> (8 * 1)) & 0xFF; 00103 *(outbuffer + offset + 2) = (u_param4.base >> (8 * 2)) & 0xFF; 00104 *(outbuffer + offset + 3) = (u_param4.base >> (8 * 3)) & 0xFF; 00105 offset += sizeof(this->param4); 00106 union { 00107 float real; 00108 uint32_t base; 00109 } u_param5; 00110 u_param5.real = this->param5; 00111 *(outbuffer + offset + 0) = (u_param5.base >> (8 * 0)) & 0xFF; 00112 *(outbuffer + offset + 1) = (u_param5.base >> (8 * 1)) & 0xFF; 00113 *(outbuffer + offset + 2) = (u_param5.base >> (8 * 2)) & 0xFF; 00114 *(outbuffer + offset + 3) = (u_param5.base >> (8 * 3)) & 0xFF; 00115 offset += sizeof(this->param5); 00116 union { 00117 float real; 00118 uint32_t base; 00119 } u_param6; 00120 u_param6.real = this->param6; 00121 *(outbuffer + offset + 0) = (u_param6.base >> (8 * 0)) & 0xFF; 00122 *(outbuffer + offset + 1) = (u_param6.base >> (8 * 1)) & 0xFF; 00123 *(outbuffer + offset + 2) = (u_param6.base >> (8 * 2)) & 0xFF; 00124 *(outbuffer + offset + 3) = (u_param6.base >> (8 * 3)) & 0xFF; 00125 offset += sizeof(this->param6); 00126 union { 00127 float real; 00128 uint32_t base; 00129 } u_param7; 00130 u_param7.real = this->param7; 00131 *(outbuffer + offset + 0) = (u_param7.base >> (8 * 0)) & 0xFF; 00132 *(outbuffer + offset + 1) = (u_param7.base >> (8 * 1)) & 0xFF; 00133 *(outbuffer + offset + 2) = (u_param7.base >> (8 * 2)) & 0xFF; 00134 *(outbuffer + offset + 3) = (u_param7.base >> (8 * 3)) & 0xFF; 00135 offset += sizeof(this->param7); 00136 return offset; 00137 } 00138 00139 virtual int deserialize(unsigned char *inbuffer) 00140 { 00141 int offset = 0; 00142 union { 00143 bool real; 00144 uint8_t base; 00145 } u_broadcast; 00146 u_broadcast.base = 0; 00147 u_broadcast.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00148 this->broadcast = u_broadcast.real; 00149 offset += sizeof(this->broadcast); 00150 this->command = ((uint16_t) (*(inbuffer + offset))); 00151 this->command |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); 00152 offset += sizeof(this->command); 00153 this->confirmation = ((uint8_t) (*(inbuffer + offset))); 00154 offset += sizeof(this->confirmation); 00155 union { 00156 float real; 00157 uint32_t base; 00158 } u_param1; 00159 u_param1.base = 0; 00160 u_param1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00161 u_param1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00162 u_param1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00163 u_param1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00164 this->param1 = u_param1.real; 00165 offset += sizeof(this->param1); 00166 union { 00167 float real; 00168 uint32_t base; 00169 } u_param2; 00170 u_param2.base = 0; 00171 u_param2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00172 u_param2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00173 u_param2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00174 u_param2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00175 this->param2 = u_param2.real; 00176 offset += sizeof(this->param2); 00177 union { 00178 float real; 00179 uint32_t base; 00180 } u_param3; 00181 u_param3.base = 0; 00182 u_param3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00183 u_param3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00184 u_param3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00185 u_param3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00186 this->param3 = u_param3.real; 00187 offset += sizeof(this->param3); 00188 union { 00189 float real; 00190 uint32_t base; 00191 } u_param4; 00192 u_param4.base = 0; 00193 u_param4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00194 u_param4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00195 u_param4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00196 u_param4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00197 this->param4 = u_param4.real; 00198 offset += sizeof(this->param4); 00199 union { 00200 float real; 00201 uint32_t base; 00202 } u_param5; 00203 u_param5.base = 0; 00204 u_param5.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00205 u_param5.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00206 u_param5.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00207 u_param5.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00208 this->param5 = u_param5.real; 00209 offset += sizeof(this->param5); 00210 union { 00211 float real; 00212 uint32_t base; 00213 } u_param6; 00214 u_param6.base = 0; 00215 u_param6.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00216 u_param6.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00217 u_param6.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00218 u_param6.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00219 this->param6 = u_param6.real; 00220 offset += sizeof(this->param6); 00221 union { 00222 float real; 00223 uint32_t base; 00224 } u_param7; 00225 u_param7.base = 0; 00226 u_param7.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00227 u_param7.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00228 u_param7.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00229 u_param7.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00230 this->param7 = u_param7.real; 00231 offset += sizeof(this->param7); 00232 return offset; 00233 } 00234 00235 const char * getType(){ return COMMANDLONG; }; 00236 const char * getMD5(){ return "0ad16dd8ca2c8f209bfc6c32c71c0dd8"; }; 00237 00238 }; 00239 00240 class CommandLongResponse : public ros::Msg 00241 { 00242 public: 00243 typedef bool _success_type; 00244 _success_type success; 00245 typedef uint8_t _result_type; 00246 _result_type result; 00247 00248 CommandLongResponse(): 00249 success(0), 00250 result(0) 00251 { 00252 } 00253 00254 virtual int serialize(unsigned char *outbuffer) const 00255 { 00256 int offset = 0; 00257 union { 00258 bool real; 00259 uint8_t base; 00260 } u_success; 00261 u_success.real = this->success; 00262 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00263 offset += sizeof(this->success); 00264 *(outbuffer + offset + 0) = (this->result >> (8 * 0)) & 0xFF; 00265 offset += sizeof(this->result); 00266 return offset; 00267 } 00268 00269 virtual int deserialize(unsigned char *inbuffer) 00270 { 00271 int offset = 0; 00272 union { 00273 bool real; 00274 uint8_t base; 00275 } u_success; 00276 u_success.base = 0; 00277 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00278 this->success = u_success.real; 00279 offset += sizeof(this->success); 00280 this->result = ((uint8_t) (*(inbuffer + offset))); 00281 offset += sizeof(this->result); 00282 return offset; 00283 } 00284 00285 const char * getType(){ return COMMANDLONG; }; 00286 const char * getMD5(){ return "1cd894375e4e3d2861d2222772894fdb"; }; 00287 00288 }; 00289 00290 class CommandLong { 00291 public: 00292 typedef CommandLongRequest Request; 00293 typedef CommandLongResponse Response; 00294 }; 00295 00296 } 00297 #endif
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