Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/SetJointProperties.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_SetJointProperties_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_SetJointProperties_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/ODEJointProperties.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 SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class SetJointPropertiesRequest : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef const char* _joint_name_type;
scarter1 0:020db18a476d 18 _joint_name_type joint_name;
scarter1 0:020db18a476d 19 typedef gazebo_msgs::ODEJointProperties _ode_joint_config_type;
scarter1 0:020db18a476d 20 _ode_joint_config_type ode_joint_config;
scarter1 0:020db18a476d 21
scarter1 0:020db18a476d 22 SetJointPropertiesRequest():
scarter1 0:020db18a476d 23 joint_name(""),
scarter1 0:020db18a476d 24 ode_joint_config()
scarter1 0:020db18a476d 25 {
scarter1 0:020db18a476d 26 }
scarter1 0:020db18a476d 27
scarter1 0:020db18a476d 28 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 int offset = 0;
scarter1 0:020db18a476d 31 uint32_t length_joint_name = strlen(this->joint_name);
scarter1 0:020db18a476d 32 varToArr(outbuffer + offset, length_joint_name);
scarter1 0:020db18a476d 33 offset += 4;
scarter1 0:020db18a476d 34 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
scarter1 0:020db18a476d 35 offset += length_joint_name;
scarter1 0:020db18a476d 36 offset += this->ode_joint_config.serialize(outbuffer + offset);
scarter1 0:020db18a476d 37 return offset;
scarter1 0:020db18a476d 38 }
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 int offset = 0;
scarter1 0:020db18a476d 43 uint32_t length_joint_name;
scarter1 0:020db18a476d 44 arrToVar(length_joint_name, (inbuffer + offset));
scarter1 0:020db18a476d 45 offset += 4;
scarter1 0:020db18a476d 46 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
scarter1 0:020db18a476d 47 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49 inbuffer[offset+length_joint_name-1]=0;
scarter1 0:020db18a476d 50 this->joint_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 51 offset += length_joint_name;
scarter1 0:020db18a476d 52 offset += this->ode_joint_config.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 53 return offset;
scarter1 0:020db18a476d 54 }
scarter1 0:020db18a476d 55
scarter1 0:020db18a476d 56 const char * getType(){ return SETJOINTPROPERTIES; };
scarter1 0:020db18a476d 57 const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
scarter1 0:020db18a476d 58
scarter1 0:020db18a476d 59 };
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 class SetJointPropertiesResponse : public ros::Msg
scarter1 0:020db18a476d 62 {
scarter1 0:020db18a476d 63 public:
scarter1 0:020db18a476d 64 typedef bool _success_type;
scarter1 0:020db18a476d 65 _success_type success;
scarter1 0:020db18a476d 66 typedef const char* _status_message_type;
scarter1 0:020db18a476d 67 _status_message_type status_message;
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 SetJointPropertiesResponse():
scarter1 0:020db18a476d 70 success(0),
scarter1 0:020db18a476d 71 status_message("")
scarter1 0:020db18a476d 72 {
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 76 {
scarter1 0:020db18a476d 77 int offset = 0;
scarter1 0:020db18a476d 78 union {
scarter1 0:020db18a476d 79 bool real;
scarter1 0:020db18a476d 80 uint8_t base;
scarter1 0:020db18a476d 81 } u_success;
scarter1 0:020db18a476d 82 u_success.real = this->success;
scarter1 0:020db18a476d 83 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 84 offset += sizeof(this->success);
scarter1 0:020db18a476d 85 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 86 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 87 offset += 4;
scarter1 0:020db18a476d 88 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 89 offset += length_status_message;
scarter1 0:020db18a476d 90 return offset;
scarter1 0:020db18a476d 91 }
scarter1 0:020db18a476d 92
scarter1 0:020db18a476d 93 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 94 {
scarter1 0:020db18a476d 95 int offset = 0;
scarter1 0:020db18a476d 96 union {
scarter1 0:020db18a476d 97 bool real;
scarter1 0:020db18a476d 98 uint8_t base;
scarter1 0:020db18a476d 99 } u_success;
scarter1 0:020db18a476d 100 u_success.base = 0;
scarter1 0:020db18a476d 101 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 102 this->success = u_success.real;
scarter1 0:020db18a476d 103 offset += sizeof(this->success);
scarter1 0:020db18a476d 104 uint32_t length_status_message;
scarter1 0:020db18a476d 105 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 106 offset += 4;
scarter1 0:020db18a476d 107 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 108 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 109 }
scarter1 0:020db18a476d 110 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 111 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 112 offset += length_status_message;
scarter1 0:020db18a476d 113 return offset;
scarter1 0:020db18a476d 114 }
scarter1 0:020db18a476d 115
scarter1 0:020db18a476d 116 const char * getType(){ return SETJOINTPROPERTIES; };
scarter1 0:020db18a476d 117 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
scarter1 0:020db18a476d 118
scarter1 0:020db18a476d 119 };
scarter1 0:020db18a476d 120
scarter1 0:020db18a476d 121 class SetJointProperties {
scarter1 0:020db18a476d 122 public:
scarter1 0:020db18a476d 123 typedef SetJointPropertiesRequest Request;
scarter1 0:020db18a476d 124 typedef SetJointPropertiesResponse Response;
scarter1 0:020db18a476d 125 };
scarter1 0:020db18a476d 126
scarter1 0:020db18a476d 127 }
scarter1 0:020db18a476d 128 #endif