Simon Krogedal / 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

std_srvs/Trigger.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_Trigger_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_Trigger_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 TRIGGER[] = "std_srvs/Trigger";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class TriggerRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16
Gary Servin 0:04ac6be8229a 17 TriggerRequest()
Gary Servin 0:04ac6be8229a 18 {
Gary Servin 0:04ac6be8229a 19 }
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 22 {
Gary Servin 0:04ac6be8229a 23 int offset = 0;
Gary Servin 0:04ac6be8229a 24 return offset;
Gary Servin 0:04ac6be8229a 25 }
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 28 {
Gary Servin 0:04ac6be8229a 29 int offset = 0;
Gary Servin 0:04ac6be8229a 30 return offset;
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 const char * getType(){ return TRIGGER; };
Gary Servin 0:04ac6be8229a 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 35
Gary Servin 0:04ac6be8229a 36 };
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 class TriggerResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 public:
Gary Servin 0:04ac6be8229a 41 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 42 _success_type success;
Gary Servin 0:04ac6be8229a 43 typedef const char* _message_type;
Gary Servin 0:04ac6be8229a 44 _message_type message;
Gary Servin 0:04ac6be8229a 45
Gary Servin 0:04ac6be8229a 46 TriggerResponse():
Gary Servin 0:04ac6be8229a 47 success(0),
Gary Servin 0:04ac6be8229a 48 message("")
Gary Servin 0:04ac6be8229a 49 {
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 int offset = 0;
Gary Servin 0:04ac6be8229a 55 union {
Gary Servin 0:04ac6be8229a 56 bool real;
Gary Servin 0:04ac6be8229a 57 uint8_t base;
Gary Servin 0:04ac6be8229a 58 } u_success;
Gary Servin 0:04ac6be8229a 59 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 62 uint32_t length_message = strlen(this->message);
Gary Servin 0:04ac6be8229a 63 varToArr(outbuffer + offset, length_message);
Gary Servin 0:04ac6be8229a 64 offset += 4;
Gary Servin 0:04ac6be8229a 65 memcpy(outbuffer + offset, this->message, length_message);
Gary Servin 0:04ac6be8229a 66 offset += length_message;
Gary Servin 0:04ac6be8229a 67 return offset;
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 virtual int deserialize(unsigned char *inbuffer)
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.base = 0;
Gary Servin 0:04ac6be8229a 78 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 79 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 80 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 81 uint32_t length_message;
Gary Servin 0:04ac6be8229a 82 arrToVar(length_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 83 offset += 4;
Gary Servin 0:04ac6be8229a 84 for(unsigned int k= offset; k< offset+length_message; ++k){
Gary Servin 0:04ac6be8229a 85 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87 inbuffer[offset+length_message-1]=0;
Gary Servin 0:04ac6be8229a 88 this->message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 89 offset += length_message;
Gary Servin 0:04ac6be8229a 90 return offset;
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 const char * getType(){ return TRIGGER; };
Gary Servin 0:04ac6be8229a 94 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
Gary Servin 0:04ac6be8229a 95
Gary Servin 0:04ac6be8229a 96 };
Gary Servin 0:04ac6be8229a 97
Gary Servin 0:04ac6be8229a 98 class Trigger {
Gary Servin 0:04ac6be8229a 99 public:
Gary Servin 0:04ac6be8229a 100 typedef TriggerRequest Request;
Gary Servin 0:04ac6be8229a 101 typedef TriggerResponse Response;
Gary Servin 0:04ac6be8229a 102 };
Gary Servin 0:04ac6be8229a 103
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105 #endif