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38 lines
1.4 KiB
38 lines
1.4 KiB
/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate ExampleService v0 <--> v1
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#include <px4_msgs_old/srv/example_service_v0.hpp>
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#include <px4_msgs/srv/example_service.hpp>
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class ExampleServiceV1Translation {
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public:
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using MessageOlder = px4_msgs_old::srv::ExampleServiceV0;
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static_assert(MessageOlder::Request::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::srv::ExampleService;
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static_assert(MessageNewer::Request::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/example_service";
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static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
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// Request: set msg_newer from msg_older
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}
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static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
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// Request: set msg_older from msg_newer
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}
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static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
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// Response: set msg_newer from msg_older
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}
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static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
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// Response: set msg_older from msg_newer
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}
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};
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REGISTER_SERVICE_TRANSLATION_DIRECT(ExampleServiceV1Translation);
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