Trigger.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#ifndef _ROS_SERVICE_Trigger_h
#define _ROS_SERVICE_Trigger_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace std_srvs
{

static const char TRIGGER[] = "std_srvs/Trigger";

  class TriggerRequest : public ros::Msg
  {
    public:

    TriggerRequest()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
     return offset;
    }

    const char * getType(){ return TRIGGER; };
    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };

  };

  class TriggerResponse : public ros::Msg
  {
    public:
      bool success;
      const char* message;

    TriggerResponse():
      success(0),
      message("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.real = this->success;
      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->success);
      uint32_t length_message = strlen(this->message);
      memcpy(outbuffer + offset, &length_message, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->message, length_message);
      offset += length_message;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.base = 0;
      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->success = u_success.real;
      offset += sizeof(this->success);
      uint32_t length_message;
      memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_message; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_message-1]=0;
      this->message = (char *)(inbuffer + offset-1);
      offset += length_message;
     return offset;
    }

    const char * getType(){ return TRIGGER; };
    const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };

  };

  class Trigger {
    public:
    typedef TriggerRequest Request;
    typedef TriggerResponse Response;
  };

}
#endif