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types.cpp
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48 lines (43 loc) · 1.24 KB
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// 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.
#include "rclcpp_action/types.hpp"
#include <string>
#include <sstream>
namespace rclcpp_action
{
std::string
to_string(const GoalUUID & goal_id)
{
std::stringstream stream;
stream << std::hex;
for (const auto & element : goal_id) {
stream << static_cast<int>(element);
}
return stream.str();
}
void
convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
{
for (size_t i = 0; i < 16; ++i) {
info->goal_id.uuid[i] = goal_id[i];
}
}
void
convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id)
{
for (size_t i = 0; i < 16; ++i) {
(*goal_id)[i] = info.goal_id.uuid[i];
}
}
} // namespace rclcpp_action