Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
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?
User | Revision | Line number | New 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 |