18 #ifndef _ROS_SERVICE_SetPWM_h 19 #define _ROS_SERVICE_SetPWM_h 28 static const char SETPWM[] =
"cob_hand_bridge/SetPWM";
41 pins_length(0), pins(NULL),
42 levels_length(0), levels(NULL)
46 virtual int serialize(
unsigned char *outbuffer)
const 49 *(outbuffer + offset++) = pins_length;
50 *(outbuffer + offset++) = 0;
51 *(outbuffer + offset++) = 0;
52 *(outbuffer + offset++) = 0;
54 *(outbuffer + offset + 0) = (this->pins[i] >> (8 * 0)) & 0xFF;
55 offset +=
sizeof(this->pins[i]);
57 *(outbuffer + offset++) = levels_length;
58 *(outbuffer + offset++) = 0;
59 *(outbuffer + offset++) = 0;
60 *(outbuffer + offset++) = 0;
66 u_levelsi.real = this->levels[i];
67 *(outbuffer + offset + 0) = (u_levelsi.base >> (8 * 0)) & 0xFF;
68 *(outbuffer + offset + 1) = (u_levelsi.base >> (8 * 1)) & 0xFF;
69 *(outbuffer + offset + 2) = (u_levelsi.base >> (8 * 2)) & 0xFF;
70 *(outbuffer + offset + 3) = (u_levelsi.base >> (8 * 3)) & 0xFF;
71 offset +=
sizeof(this->levels[i]);
79 uint8_t pins_lengthT = *(inbuffer + offset++);
80 if(pins_lengthT > pins_length)
81 this->pins = (uint8_t*)realloc(this->pins, pins_lengthT *
sizeof(uint8_t));
83 pins_length = pins_lengthT;
85 this->st_pins = ((uint8_t) (*(inbuffer + offset)));
86 offset +=
sizeof(this->
st_pins);
87 memcpy( &(this->pins[i]), &(this->st_pins),
sizeof(uint8_t));
89 uint8_t levels_lengthT = *(inbuffer + offset++);
90 if(levels_lengthT > levels_length)
91 this->levels = (
float*)realloc(this->levels, levels_lengthT *
sizeof(
float));
93 levels_length = levels_lengthT;
100 u_st_levels.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
101 u_st_levels.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
102 u_st_levels.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
103 u_st_levels.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
104 this->st_levels = u_st_levels.real;
106 memcpy( &(this->levels[i]), &(this->st_levels),
sizeof(
float));
112 const char *
getMD5(){
return "d3b671b5e2eb290c5f274725029ed0c2"; };
133 u_success.real = this->success;
134 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
135 offset +=
sizeof(this->success);
147 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
148 this->success = u_success.real;
149 offset +=
sizeof(this->success);
154 const char *
getMD5(){
return "358e233cde0c8a8bcfea4ce193f8fc15"; };
virtual int deserialize(unsigned char *inbuffer)
virtual int deserialize(unsigned char *inbuffer)
static const char SETPWM[]
virtual int serialize(unsigned char *outbuffer) const
virtual int serialize(unsigned char *outbuffer) const