text: #ifndef _ROS_SERVICE_SwitchController_h
  #define _ROS_SERVICE_SwitchController_h
  #include <stdint.h>
  #include <string.h>
  #include <stdlib.h>
  #include "ros/msg.h"
  #include "ArduinoIncludes.h"
  
  namespace controller_manager_msgs
  {
  
  #ifdef ESP8266
      static const char SWITCHCONTROLLER[] = "controller_manager_msgs/SwitchController";
  #else
      static const char SWITCHCONTROLLER[] PROGMEM = "controller_manager_msgs/SwitchController";
  #endif
  
    class SwitchControllerRequest : public ros::Msg
    {
      public:
        uint32_t start_controllers_length;
        typedef char* _start_controllers_type;
        _start_controllers_type st_start_controllers;
        _start_controllers_type * start_controllers;
        uint32_t stop_controllers_length;
        typedef char* _stop_controllers_type;
        _stop_controllers_type st_stop_controllers;
        _stop_controllers_type * stop_controllers;
        typedef int32_t _strictness_type;
        _strictness_type strictness;
        enum { BEST_EFFORT = 1 };
        enum { STRICT = 2 };
  
      SwitchControllerRequest():
        start_controllers_length(0), start_controllers(NULL),
        stop_controllers_length(0), stop_controllers(NULL),
        strictness(0)
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        *(outbuffer + offset + 0) = (this->start_controllers_length >> (8 * 0)) & 0xFF;
        *(outbuffer + offset + 1) = (this->start_controllers_length >> (8 * 1)) & 0xFF;
        *(outbuffer + offset + 2) = (this->start_controllers_length >> (8 * 2)) & 0xFF;
        *(outbuffer + offset + 3) = (this->start_controllers_length >> (8 * 3)) & 0xFF;
        offset += sizeof(this->start_controllers_length);
        for( uint32_t i = 0; i < start_controllers_length; i++){
        uint32_t length_start_controllersi = strlen(this->start_controllers[i]);
        varToArr(outbuffer + offset, length_start_controllersi);
        offset += 4;
        memcpy(outbuffer + offset, this->start_controllers[i], length_start_controllersi);
        offset += length_start_controllersi;
        }
        *(outbuffer + offset + 0) = (this->stop_controllers_length >> (8 * 0)) & 0xFF;
        *(outbuffer + offset + 1) = (this->stop_controllers_length >> (8 * 1)) & 0xFF;
        *(outbuffer + offset + 2) = (this->stop_controllers_length >> (8 * 2)) & 0xFF;
        *(outbuffer + offset + 3) = (this->stop_controllers_length >> (8 * 3)) & 0xFF;
        offset += sizeof(this->stop_controllers_length);
        for( uint32_t i = 0; i < stop_controllers_length; i++){
        uint32_t length_stop_controllersi = strlen(this->stop_controllers[i]);
        varToArr(outbuffer + offset, length_stop_controllersi);
        offset += 4;
        memcpy(outbuffer + offset, this->stop_controllers[i], length_stop_controllersi);
        offset += length_stop_controllersi;
        }
        union {
          int32_t real;
          uint32_t base;
        } u_strictness;
        u_strictness.real = this->strictness;
        *(outbuffer + offset + 0) = (u_strictness.base >> (8 * 0)) & 0xFF;
        *(outbuffer + offset + 1) = (u_strictness.base >> (8 * 1)) & 0xFF;
        *(outbuffer + offset + 2) = (u_strictness.base >> (8 * 2)) & 0xFF;
        *(outbuffer + offset + 3) = (u_strictness.base >> (8 * 3)) & 0xFF;
        offset += sizeof(this->strictness);
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
        uint32_t start_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
        start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
        start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
        start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
        offset += sizeof(this->start_controllers_length);
        if(start_controllers_lengthT > start_controllers_length)
          this->start_controllers = (char**)realloc(this->start_controllers, start_controllers_lengthT * sizeof(char*));
        start_controllers_length = start_controllers_lengthT;
        for( uint32_t i = 0; i < start_controllers_length; i++){
        uint32_t length_st_start_controllers;
        arrToVar(length_st_start_controllers, (inbuffer + offset));
        offset += 4;
        for(unsigned int k= offset; k< offset+length_st_start_controllers; ++k){
            inbuffer[k-1]=inbuffer[k];
        }
        inbuffer[offset+length_st_start_controllers-1]=0;
        this->st_start_controllers = (char *)(inbuffer + offset-1);
        offset += length_st_start_controllers;
          memcpy( &(this->start_controllers[i]), &(this->st_start_controllers), sizeof(char*));
        }
        uint32_t stop_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
        stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
        stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
        stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
        offset += sizeof(this->stop_controllers_length);
        if(stop_controllers_lengthT > stop_controllers_length)
          this->stop_controllers = (char**)realloc(this->stop_controllers, stop_controllers_lengthT * sizeof(char*));
        stop_controllers_length = stop_controllers_lengthT;
        for( uint32_t i = 0; i < stop_controllers_length; i++){
        uint32_t length_st_stop_controllers;
        arrToVar(length_st_stop_controllers, (inbuffer + offset));
        offset += 4;
        for(unsigned int k= offset; k< offset+length_st_stop_controllers; ++k){
            inbuffer[k-1]=inbuffer[k];
        }
        inbuffer[offset+length_st_stop_controllers-1]=0;
        this->st_stop_controllers = (char *)(inbuffer + offset-1);
        offset += length_st_stop_controllers;
          memcpy( &(this->stop_controllers[i]), &(this->st_stop_controllers), sizeof(char*));
        }
        union {
          int32_t real;
          uint32_t base;
        } u_strictness;
        u_strictness.base = 0;
        u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
        u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
        u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
        u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
        this->strictness = u_strictness.real;
        offset += sizeof(this->strictness);
       return offset;
      }
  
      const char * getType(){ return SWITCHCONTROLLER; };
      #ifdef ESP8266
          const char * getMD5() { return  ("434da54adc434a5af5743ed711fd6ba1");};
      #else
          const char * getMD5() { return  PSTR("434da54adc434a5af5743ed711fd6ba1");};
      #endif
  
    };
  
    class SwitchControllerResponse : public ros::Msg
    {
      public:
        typedef bool _ok_type;
        _ok_type ok;
  
      SwitchControllerResponse():
        ok(0)
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        union {
          bool real;
          uint8_t base;
        } u_ok;
        u_ok.real = this->ok;
        *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF;
        offset += sizeof(this->ok);
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
        union {
          bool real;
          uint8_t base;
        } u_ok;
        u_ok.base = 0;
        u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
        this->ok = u_ok.real;
        offset += sizeof(this->ok);
       return offset;
      }
  
      const char * getType(){ return SWITCHCONTROLLER; };
      #ifdef ESP8266
          const char * getMD5() { return  ("6f6da3883749771fac40d6deb24a8c02");};
      #else
          const char * getMD5() { return  PSTR("6f6da3883749771fac40d6deb24a8c02");};
      #endif
  
    };
  
    class SwitchController {
      public:
      typedef SwitchControllerRequest Request;
      typedef SwitchControllerResponse Response;
    };
  
  }
  #endif
  