ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

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scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_GetModelState_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_GetModelState_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7 #include "geometry_msgs/Pose.h"
scarter1 0:020db18a476d 8 #include "geometry_msgs/Twist.h"
scarter1 0:020db18a476d 9 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 namespace gazebo_msgs
scarter1 0:020db18a476d 12 {
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState";
scarter1 0:020db18a476d 15
scarter1 0:020db18a476d 16 class GetModelStateRequest : public ros::Msg
scarter1 0:020db18a476d 17 {
scarter1 0:020db18a476d 18 public:
scarter1 0:020db18a476d 19 typedef const char* _model_name_type;
scarter1 0:020db18a476d 20 _model_name_type model_name;
scarter1 0:020db18a476d 21 typedef const char* _relative_entity_name_type;
scarter1 0:020db18a476d 22 _relative_entity_name_type relative_entity_name;
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 GetModelStateRequest():
scarter1 0:020db18a476d 25 model_name(""),
scarter1 0:020db18a476d 26 relative_entity_name("")
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 }
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 31 {
scarter1 0:020db18a476d 32 int offset = 0;
scarter1 0:020db18a476d 33 uint32_t length_model_name = strlen(this->model_name);
scarter1 0:020db18a476d 34 varToArr(outbuffer + offset, length_model_name);
scarter1 0:020db18a476d 35 offset += 4;
scarter1 0:020db18a476d 36 memcpy(outbuffer + offset, this->model_name, length_model_name);
scarter1 0:020db18a476d 37 offset += length_model_name;
scarter1 0:020db18a476d 38 uint32_t length_relative_entity_name = strlen(this->relative_entity_name);
scarter1 0:020db18a476d 39 varToArr(outbuffer + offset, length_relative_entity_name);
scarter1 0:020db18a476d 40 offset += 4;
scarter1 0:020db18a476d 41 memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name);
scarter1 0:020db18a476d 42 offset += length_relative_entity_name;
scarter1 0:020db18a476d 43 return offset;
scarter1 0:020db18a476d 44 }
scarter1 0:020db18a476d 45
scarter1 0:020db18a476d 46 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 47 {
scarter1 0:020db18a476d 48 int offset = 0;
scarter1 0:020db18a476d 49 uint32_t length_model_name;
scarter1 0:020db18a476d 50 arrToVar(length_model_name, (inbuffer + offset));
scarter1 0:020db18a476d 51 offset += 4;
scarter1 0:020db18a476d 52 for(unsigned int k= offset; k< offset+length_model_name; ++k){
scarter1 0:020db18a476d 53 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 54 }
scarter1 0:020db18a476d 55 inbuffer[offset+length_model_name-1]=0;
scarter1 0:020db18a476d 56 this->model_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 57 offset += length_model_name;
scarter1 0:020db18a476d 58 uint32_t length_relative_entity_name;
scarter1 0:020db18a476d 59 arrToVar(length_relative_entity_name, (inbuffer + offset));
scarter1 0:020db18a476d 60 offset += 4;
scarter1 0:020db18a476d 61 for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){
scarter1 0:020db18a476d 62 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 63 }
scarter1 0:020db18a476d 64 inbuffer[offset+length_relative_entity_name-1]=0;
scarter1 0:020db18a476d 65 this->relative_entity_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 66 offset += length_relative_entity_name;
scarter1 0:020db18a476d 67 return offset;
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 const char * getType(){ return GETMODELSTATE; };
scarter1 0:020db18a476d 71 const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; };
scarter1 0:020db18a476d 72
scarter1 0:020db18a476d 73 };
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 class GetModelStateResponse : public ros::Msg
scarter1 0:020db18a476d 76 {
scarter1 0:020db18a476d 77 public:
scarter1 0:020db18a476d 78 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 79 _header_type header;
scarter1 0:020db18a476d 80 typedef geometry_msgs::Pose _pose_type;
scarter1 0:020db18a476d 81 _pose_type pose;
scarter1 0:020db18a476d 82 typedef geometry_msgs::Twist _twist_type;
scarter1 0:020db18a476d 83 _twist_type twist;
scarter1 0:020db18a476d 84 typedef bool _success_type;
scarter1 0:020db18a476d 85 _success_type success;
scarter1 0:020db18a476d 86 typedef const char* _status_message_type;
scarter1 0:020db18a476d 87 _status_message_type status_message;
scarter1 0:020db18a476d 88
scarter1 0:020db18a476d 89 GetModelStateResponse():
scarter1 0:020db18a476d 90 header(),
scarter1 0:020db18a476d 91 pose(),
scarter1 0:020db18a476d 92 twist(),
scarter1 0:020db18a476d 93 success(0),
scarter1 0:020db18a476d 94 status_message("")
scarter1 0:020db18a476d 95 {
scarter1 0:020db18a476d 96 }
scarter1 0:020db18a476d 97
scarter1 0:020db18a476d 98 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 99 {
scarter1 0:020db18a476d 100 int offset = 0;
scarter1 0:020db18a476d 101 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 102 offset += this->pose.serialize(outbuffer + offset);
scarter1 0:020db18a476d 103 offset += this->twist.serialize(outbuffer + offset);
scarter1 0:020db18a476d 104 union {
scarter1 0:020db18a476d 105 bool real;
scarter1 0:020db18a476d 106 uint8_t base;
scarter1 0:020db18a476d 107 } u_success;
scarter1 0:020db18a476d 108 u_success.real = this->success;
scarter1 0:020db18a476d 109 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 110 offset += sizeof(this->success);
scarter1 0:020db18a476d 111 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 112 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 113 offset += 4;
scarter1 0:020db18a476d 114 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 115 offset += length_status_message;
scarter1 0:020db18a476d 116 return offset;
scarter1 0:020db18a476d 117 }
scarter1 0:020db18a476d 118
scarter1 0:020db18a476d 119 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 120 {
scarter1 0:020db18a476d 121 int offset = 0;
scarter1 0:020db18a476d 122 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 123 offset += this->pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 124 offset += this->twist.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 125 union {
scarter1 0:020db18a476d 126 bool real;
scarter1 0:020db18a476d 127 uint8_t base;
scarter1 0:020db18a476d 128 } u_success;
scarter1 0:020db18a476d 129 u_success.base = 0;
scarter1 0:020db18a476d 130 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 131 this->success = u_success.real;
scarter1 0:020db18a476d 132 offset += sizeof(this->success);
scarter1 0:020db18a476d 133 uint32_t length_status_message;
scarter1 0:020db18a476d 134 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 135 offset += 4;
scarter1 0:020db18a476d 136 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 137 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 138 }
scarter1 0:020db18a476d 139 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 140 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 141 offset += length_status_message;
scarter1 0:020db18a476d 142 return offset;
scarter1 0:020db18a476d 143 }
scarter1 0:020db18a476d 144
scarter1 0:020db18a476d 145 const char * getType(){ return GETMODELSTATE; };
scarter1 0:020db18a476d 146 const char * getMD5(){ return "ccd51739bb00f0141629e87b792e92b9"; };
scarter1 0:020db18a476d 147
scarter1 0:020db18a476d 148 };
scarter1 0:020db18a476d 149
scarter1 0:020db18a476d 150 class GetModelState {
scarter1 0:020db18a476d 151 public:
scarter1 0:020db18a476d 152 typedef GetModelStateRequest Request;
scarter1 0:020db18a476d 153 typedef GetModelStateResponse Response;
scarter1 0:020db18a476d 154 };
scarter1 0:020db18a476d 155
scarter1 0:020db18a476d 156 }
scarter1 0:020db18a476d 157 #endif