Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/SpawnModel.h@0:020db18a476d, 2019-10-30 (annotated)

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_SpawnModel_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_SpawnModel_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
scarter1 0:020db18a476d 9 namespace gazebo_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class SpawnModelRequest : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef const char* _model_name_type;
scarter1 0:020db18a476d 18 _model_name_type model_name;
scarter1 0:020db18a476d 19 typedef const char* _model_xml_type;
scarter1 0:020db18a476d 20 _model_xml_type model_xml;
scarter1 0:020db18a476d 21 typedef const char* _robot_namespace_type;
scarter1 0:020db18a476d 22 _robot_namespace_type robot_namespace;
scarter1 0:020db18a476d 23 typedef geometry_msgs::Pose _initial_pose_type;
scarter1 0:020db18a476d 24 _initial_pose_type initial_pose;
scarter1 0:020db18a476d 25 typedef const char* _reference_frame_type;
scarter1 0:020db18a476d 26 _reference_frame_type reference_frame;
scarter1 0:020db18a476d 27
scarter1 0:020db18a476d 28 SpawnModelRequest():
scarter1 0:020db18a476d 29 model_name(""),
scarter1 0:020db18a476d 30 model_xml(""),
scarter1 0:020db18a476d 31 robot_namespace(""),
scarter1 0:020db18a476d 32 initial_pose(),
scarter1 0:020db18a476d 33 reference_frame("")
scarter1 0:020db18a476d 34 {
scarter1 0:020db18a476d 35 }
scarter1 0:020db18a476d 36
scarter1 0:020db18a476d 37 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 int offset = 0;
scarter1 0:020db18a476d 40 uint32_t length_model_name = strlen(this->model_name);
scarter1 0:020db18a476d 41 varToArr(outbuffer + offset, length_model_name);
scarter1 0:020db18a476d 42 offset += 4;
scarter1 0:020db18a476d 43 memcpy(outbuffer + offset, this->model_name, length_model_name);
scarter1 0:020db18a476d 44 offset += length_model_name;
scarter1 0:020db18a476d 45 uint32_t length_model_xml = strlen(this->model_xml);
scarter1 0:020db18a476d 46 varToArr(outbuffer + offset, length_model_xml);
scarter1 0:020db18a476d 47 offset += 4;
scarter1 0:020db18a476d 48 memcpy(outbuffer + offset, this->model_xml, length_model_xml);
scarter1 0:020db18a476d 49 offset += length_model_xml;
scarter1 0:020db18a476d 50 uint32_t length_robot_namespace = strlen(this->robot_namespace);
scarter1 0:020db18a476d 51 varToArr(outbuffer + offset, length_robot_namespace);
scarter1 0:020db18a476d 52 offset += 4;
scarter1 0:020db18a476d 53 memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
scarter1 0:020db18a476d 54 offset += length_robot_namespace;
scarter1 0:020db18a476d 55 offset += this->initial_pose.serialize(outbuffer + offset);
scarter1 0:020db18a476d 56 uint32_t length_reference_frame = strlen(this->reference_frame);
scarter1 0:020db18a476d 57 varToArr(outbuffer + offset, length_reference_frame);
scarter1 0:020db18a476d 58 offset += 4;
scarter1 0:020db18a476d 59 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
scarter1 0:020db18a476d 60 offset += length_reference_frame;
scarter1 0:020db18a476d 61 return offset;
scarter1 0:020db18a476d 62 }
scarter1 0:020db18a476d 63
scarter1 0:020db18a476d 64 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 65 {
scarter1 0:020db18a476d 66 int offset = 0;
scarter1 0:020db18a476d 67 uint32_t length_model_name;
scarter1 0:020db18a476d 68 arrToVar(length_model_name, (inbuffer + offset));
scarter1 0:020db18a476d 69 offset += 4;
scarter1 0:020db18a476d 70 for(unsigned int k= offset; k< offset+length_model_name; ++k){
scarter1 0:020db18a476d 71 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73 inbuffer[offset+length_model_name-1]=0;
scarter1 0:020db18a476d 74 this->model_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 75 offset += length_model_name;
scarter1 0:020db18a476d 76 uint32_t length_model_xml;
scarter1 0:020db18a476d 77 arrToVar(length_model_xml, (inbuffer + offset));
scarter1 0:020db18a476d 78 offset += 4;
scarter1 0:020db18a476d 79 for(unsigned int k= offset; k< offset+length_model_xml; ++k){
scarter1 0:020db18a476d 80 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 81 }
scarter1 0:020db18a476d 82 inbuffer[offset+length_model_xml-1]=0;
scarter1 0:020db18a476d 83 this->model_xml = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 84 offset += length_model_xml;
scarter1 0:020db18a476d 85 uint32_t length_robot_namespace;
scarter1 0:020db18a476d 86 arrToVar(length_robot_namespace, (inbuffer + offset));
scarter1 0:020db18a476d 87 offset += 4;
scarter1 0:020db18a476d 88 for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
scarter1 0:020db18a476d 89 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91 inbuffer[offset+length_robot_namespace-1]=0;
scarter1 0:020db18a476d 92 this->robot_namespace = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 93 offset += length_robot_namespace;
scarter1 0:020db18a476d 94 offset += this->initial_pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 95 uint32_t length_reference_frame;
scarter1 0:020db18a476d 96 arrToVar(length_reference_frame, (inbuffer + offset));
scarter1 0:020db18a476d 97 offset += 4;
scarter1 0:020db18a476d 98 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
scarter1 0:020db18a476d 99 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 100 }
scarter1 0:020db18a476d 101 inbuffer[offset+length_reference_frame-1]=0;
scarter1 0:020db18a476d 102 this->reference_frame = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 103 offset += length_reference_frame;
scarter1 0:020db18a476d 104 return offset;
scarter1 0:020db18a476d 105 }
scarter1 0:020db18a476d 106
scarter1 0:020db18a476d 107 const char * getType(){ return SPAWNMODEL; };
scarter1 0:020db18a476d 108 const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
scarter1 0:020db18a476d 109
scarter1 0:020db18a476d 110 };
scarter1 0:020db18a476d 111
scarter1 0:020db18a476d 112 class SpawnModelResponse : public ros::Msg
scarter1 0:020db18a476d 113 {
scarter1 0:020db18a476d 114 public:
scarter1 0:020db18a476d 115 typedef bool _success_type;
scarter1 0:020db18a476d 116 _success_type success;
scarter1 0:020db18a476d 117 typedef const char* _status_message_type;
scarter1 0:020db18a476d 118 _status_message_type status_message;
scarter1 0:020db18a476d 119
scarter1 0:020db18a476d 120 SpawnModelResponse():
scarter1 0:020db18a476d 121 success(0),
scarter1 0:020db18a476d 122 status_message("")
scarter1 0:020db18a476d 123 {
scarter1 0:020db18a476d 124 }
scarter1 0:020db18a476d 125
scarter1 0:020db18a476d 126 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 127 {
scarter1 0:020db18a476d 128 int offset = 0;
scarter1 0:020db18a476d 129 union {
scarter1 0:020db18a476d 130 bool real;
scarter1 0:020db18a476d 131 uint8_t base;
scarter1 0:020db18a476d 132 } u_success;
scarter1 0:020db18a476d 133 u_success.real = this->success;
scarter1 0:020db18a476d 134 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 135 offset += sizeof(this->success);
scarter1 0:020db18a476d 136 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 137 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 138 offset += 4;
scarter1 0:020db18a476d 139 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 140 offset += length_status_message;
scarter1 0:020db18a476d 141 return offset;
scarter1 0:020db18a476d 142 }
scarter1 0:020db18a476d 143
scarter1 0:020db18a476d 144 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 145 {
scarter1 0:020db18a476d 146 int offset = 0;
scarter1 0:020db18a476d 147 union {
scarter1 0:020db18a476d 148 bool real;
scarter1 0:020db18a476d 149 uint8_t base;
scarter1 0:020db18a476d 150 } u_success;
scarter1 0:020db18a476d 151 u_success.base = 0;
scarter1 0:020db18a476d 152 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 153 this->success = u_success.real;
scarter1 0:020db18a476d 154 offset += sizeof(this->success);
scarter1 0:020db18a476d 155 uint32_t length_status_message;
scarter1 0:020db18a476d 156 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 157 offset += 4;
scarter1 0:020db18a476d 158 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 159 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 160 }
scarter1 0:020db18a476d 161 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 162 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 163 offset += length_status_message;
scarter1 0:020db18a476d 164 return offset;
scarter1 0:020db18a476d 165 }
scarter1 0:020db18a476d 166
scarter1 0:020db18a476d 167 const char * getType(){ return SPAWNMODEL; };
scarter1 0:020db18a476d 168 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
scarter1 0:020db18a476d 169
scarter1 0:020db18a476d 170 };
scarter1 0:020db18a476d 171
scarter1 0:020db18a476d 172 class SpawnModel {
scarter1 0:020db18a476d 173 public:
scarter1 0:020db18a476d 174 typedef SpawnModelRequest Request;
scarter1 0:020db18a476d 175 typedef SpawnModelResponse Response;
scarter1 0:020db18a476d 176 };
scarter1 0:020db18a476d 177
scarter1 0:020db18a476d 178 }
scarter1 0:020db18a476d 179 #endif