functions.h
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28 
29 #ifndef HECTOR_UAV_MSGS_RC_FUNCTIONS_H
30 #define HECTOR_UAV_MSGS_RC_FUNCTIONS_H
31 
32 #include <hector_uav_msgs/RC.h>
33 #include <algorithm>
34 
35 namespace hector_uav_msgs {
36 
37  static inline const char *getFunctionString(uint8_t function)
38  {
39  switch(function) {
40  case RC::ROLL: return "ROLL";
41  case RC::PITCH: return "PITCH";
42  case RC::YAW: return "YAW";
43  case RC::STEER: return "STEER";
44  case RC::HEIGHT: return "HEIGHT";
45  case RC::THRUST: return "THRUST";
46  case RC::BRAKE: return "BRAKE";
47  }
48  return 0;
49  }
50 
51  static inline bool hasAxis(const RC& rc, RC::_axis_function_type::value_type function)
52  {
53  return std::find(rc.axis_function.begin(), rc.axis_function.end(), function) != rc.axis_function.end();
54  }
55 
56  static inline bool getAxis(const RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type& value)
57  {
58  if (!rc.valid) return false;
59  const RC::_axis_function_type::const_iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function);
60  if (it == rc.axis_function.end()) return false;
61  value = rc.axis.at(it - rc.axis_function.begin());
62  return true;
63  }
64 
65  static inline void setAxis(RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value)
66  {
67  const RC::_axis_function_type::iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function);
68  if (it == rc.axis_function.end()) {
69  rc.axis_function.push_back(function);
70  rc.axis.push_back(value);
71  } else {
72  rc.axis.at(it - rc.axis_function.begin()) = value;
73  }
74  }
75 
76  static inline bool hasSwitch(const RC& rc, RC::_swit_function_type::value_type function)
77  {
78  return std::find(rc.swit_function.begin(), rc.swit_function.end(), function) != rc.swit_function.end();
79  }
80 
81  static inline bool getSwitch(const RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type& value)
82  {
83  if (!rc.valid) return false;
84  const RC::_swit_function_type::const_iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function);
85  if (it == rc.swit_function.end()) return false;
86  value = rc.swit.at(it - rc.swit_function.begin());
87  return true;
88  }
89 
90  static inline void setSwitch(RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value)
91  {
92  const RC::_swit_function_type::iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function);
93  if (it == rc.swit_function.end()) {
94  rc.swit_function.push_back(function);
95  rc.swit.push_back(value);
96  } else {
97  rc.swit.at(it - rc.swit_function.begin()) = value;
98  }
99  }
100 
101 } // namespace hector_uav_msgs
102 
103 #endif // HECTOR_UAV_MSGS_RC_FUNCTIONS_H
static bool hasSwitch(const RC &rc, RC::_swit_function_type::value_type function)
Definition: functions.h:76
static bool hasAxis(const RC &rc, RC::_axis_function_type::value_type function)
Definition: functions.h:51
static void setAxis(RC &rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value)
Definition: functions.h:65
static void setSwitch(RC &rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value)
Definition: functions.h:90
static const char * getFunctionString(uint8_t function)
Definition: functions.h:37
static bool getAxis(const RC &rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type &value)
Definition: functions.h:56
static bool getSwitch(const RC &rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type &value)
Definition: functions.h:81


hector_uav_msgs
Author(s): Johannes Meyer
autogenerated on Mon Jun 10 2019 14:02:04