Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/SetLinkState.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_SetLinkState_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_SetLinkState_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 "gazebo_msgs/LinkState.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 SETLINKSTATE[] = "gazebo_msgs/SetLinkState";
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class SetLinkStateRequest : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef gazebo_msgs::LinkState _link_state_type;
scarter1 0:020db18a476d 18 _link_state_type link_state;
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 SetLinkStateRequest():
scarter1 0:020db18a476d 21 link_state()
scarter1 0:020db18a476d 22 {
scarter1 0:020db18a476d 23 }
scarter1 0:020db18a476d 24
scarter1 0:020db18a476d 25 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 26 {
scarter1 0:020db18a476d 27 int offset = 0;
scarter1 0:020db18a476d 28 offset += this->link_state.serialize(outbuffer + offset);
scarter1 0:020db18a476d 29 return offset;
scarter1 0:020db18a476d 30 }
scarter1 0:020db18a476d 31
scarter1 0:020db18a476d 32 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 33 {
scarter1 0:020db18a476d 34 int offset = 0;
scarter1 0:020db18a476d 35 offset += this->link_state.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 36 return offset;
scarter1 0:020db18a476d 37 }
scarter1 0:020db18a476d 38
scarter1 0:020db18a476d 39 const char * getType(){ return SETLINKSTATE; };
scarter1 0:020db18a476d 40 const char * getMD5(){ return "22a2c757d56911b6f27868159e9a872d"; };
scarter1 0:020db18a476d 41
scarter1 0:020db18a476d 42 };
scarter1 0:020db18a476d 43
scarter1 0:020db18a476d 44 class SetLinkStateResponse : public ros::Msg
scarter1 0:020db18a476d 45 {
scarter1 0:020db18a476d 46 public:
scarter1 0:020db18a476d 47 typedef bool _success_type;
scarter1 0:020db18a476d 48 _success_type success;
scarter1 0:020db18a476d 49 typedef const char* _status_message_type;
scarter1 0:020db18a476d 50 _status_message_type status_message;
scarter1 0:020db18a476d 51
scarter1 0:020db18a476d 52 SetLinkStateResponse():
scarter1 0:020db18a476d 53 success(0),
scarter1 0:020db18a476d 54 status_message("")
scarter1 0:020db18a476d 55 {
scarter1 0:020db18a476d 56 }
scarter1 0:020db18a476d 57
scarter1 0:020db18a476d 58 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 59 {
scarter1 0:020db18a476d 60 int offset = 0;
scarter1 0:020db18a476d 61 union {
scarter1 0:020db18a476d 62 bool real;
scarter1 0:020db18a476d 63 uint8_t base;
scarter1 0:020db18a476d 64 } u_success;
scarter1 0:020db18a476d 65 u_success.real = this->success;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 67 offset += sizeof(this->success);
scarter1 0:020db18a476d 68 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 69 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 70 offset += 4;
scarter1 0:020db18a476d 71 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 72 offset += length_status_message;
scarter1 0:020db18a476d 73 return offset;
scarter1 0:020db18a476d 74 }
scarter1 0:020db18a476d 75
scarter1 0:020db18a476d 76 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 77 {
scarter1 0:020db18a476d 78 int offset = 0;
scarter1 0:020db18a476d 79 union {
scarter1 0:020db18a476d 80 bool real;
scarter1 0:020db18a476d 81 uint8_t base;
scarter1 0:020db18a476d 82 } u_success;
scarter1 0:020db18a476d 83 u_success.base = 0;
scarter1 0:020db18a476d 84 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 85 this->success = u_success.real;
scarter1 0:020db18a476d 86 offset += sizeof(this->success);
scarter1 0:020db18a476d 87 uint32_t length_status_message;
scarter1 0:020db18a476d 88 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 89 offset += 4;
scarter1 0:020db18a476d 90 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 91 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 92 }
scarter1 0:020db18a476d 93 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 94 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 95 offset += length_status_message;
scarter1 0:020db18a476d 96 return offset;
scarter1 0:020db18a476d 97 }
scarter1 0:020db18a476d 98
scarter1 0:020db18a476d 99 const char * getType(){ return SETLINKSTATE; };
scarter1 0:020db18a476d 100 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
scarter1 0:020db18a476d 101
scarter1 0:020db18a476d 102 };
scarter1 0:020db18a476d 103
scarter1 0:020db18a476d 104 class SetLinkState {
scarter1 0:020db18a476d 105 public:
scarter1 0:020db18a476d 106 typedef SetLinkStateRequest Request;
scarter1 0:020db18a476d 107 typedef SetLinkStateResponse Response;
scarter1 0:020db18a476d 108 };
scarter1 0:020db18a476d 109
scarter1 0:020db18a476d 110 }
scarter1 0:020db18a476d 111 #endif