ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
ros_lib/gazebo_msgs/SetLightProperties.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
scarter1 | 0:020db18a476d | 1 | #ifndef _ROS_SERVICE_SetLightProperties_h |
scarter1 | 0:020db18a476d | 2 | #define _ROS_SERVICE_SetLightProperties_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 "std_msgs/ColorRGBA.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 SETLIGHTPROPERTIES[] = "gazebo_msgs/SetLightProperties"; |
scarter1 | 0:020db18a476d | 13 | |
scarter1 | 0:020db18a476d | 14 | class SetLightPropertiesRequest : public ros::Msg |
scarter1 | 0:020db18a476d | 15 | { |
scarter1 | 0:020db18a476d | 16 | public: |
scarter1 | 0:020db18a476d | 17 | typedef const char* _light_name_type; |
scarter1 | 0:020db18a476d | 18 | _light_name_type light_name; |
scarter1 | 0:020db18a476d | 19 | typedef std_msgs::ColorRGBA _diffuse_type; |
scarter1 | 0:020db18a476d | 20 | _diffuse_type diffuse; |
scarter1 | 0:020db18a476d | 21 | typedef double _attenuation_constant_type; |
scarter1 | 0:020db18a476d | 22 | _attenuation_constant_type attenuation_constant; |
scarter1 | 0:020db18a476d | 23 | typedef double _attenuation_linear_type; |
scarter1 | 0:020db18a476d | 24 | _attenuation_linear_type attenuation_linear; |
scarter1 | 0:020db18a476d | 25 | typedef double _attenuation_quadratic_type; |
scarter1 | 0:020db18a476d | 26 | _attenuation_quadratic_type attenuation_quadratic; |
scarter1 | 0:020db18a476d | 27 | |
scarter1 | 0:020db18a476d | 28 | SetLightPropertiesRequest(): |
scarter1 | 0:020db18a476d | 29 | light_name(""), |
scarter1 | 0:020db18a476d | 30 | diffuse(), |
scarter1 | 0:020db18a476d | 31 | attenuation_constant(0), |
scarter1 | 0:020db18a476d | 32 | attenuation_linear(0), |
scarter1 | 0:020db18a476d | 33 | attenuation_quadratic(0) |
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_light_name = strlen(this->light_name); |
scarter1 | 0:020db18a476d | 41 | varToArr(outbuffer + offset, length_light_name); |
scarter1 | 0:020db18a476d | 42 | offset += 4; |
scarter1 | 0:020db18a476d | 43 | memcpy(outbuffer + offset, this->light_name, length_light_name); |
scarter1 | 0:020db18a476d | 44 | offset += length_light_name; |
scarter1 | 0:020db18a476d | 45 | offset += this->diffuse.serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 46 | union { |
scarter1 | 0:020db18a476d | 47 | double real; |
scarter1 | 0:020db18a476d | 48 | uint64_t base; |
scarter1 | 0:020db18a476d | 49 | } u_attenuation_constant; |
scarter1 | 0:020db18a476d | 50 | u_attenuation_constant.real = this->attenuation_constant; |
scarter1 | 0:020db18a476d | 51 | *(outbuffer + offset + 0) = (u_attenuation_constant.base >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 52 | *(outbuffer + offset + 1) = (u_attenuation_constant.base >> (8 * 1)) & 0xFF; |
scarter1 | 0:020db18a476d | 53 | *(outbuffer + offset + 2) = (u_attenuation_constant.base >> (8 * 2)) & 0xFF; |
scarter1 | 0:020db18a476d | 54 | *(outbuffer + offset + 3) = (u_attenuation_constant.base >> (8 * 3)) & 0xFF; |
scarter1 | 0:020db18a476d | 55 | *(outbuffer + offset + 4) = (u_attenuation_constant.base >> (8 * 4)) & 0xFF; |
scarter1 | 0:020db18a476d | 56 | *(outbuffer + offset + 5) = (u_attenuation_constant.base >> (8 * 5)) & 0xFF; |
scarter1 | 0:020db18a476d | 57 | *(outbuffer + offset + 6) = (u_attenuation_constant.base >> (8 * 6)) & 0xFF; |
scarter1 | 0:020db18a476d | 58 | *(outbuffer + offset + 7) = (u_attenuation_constant.base >> (8 * 7)) & 0xFF; |
scarter1 | 0:020db18a476d | 59 | offset += sizeof(this->attenuation_constant); |
scarter1 | 0:020db18a476d | 60 | union { |
scarter1 | 0:020db18a476d | 61 | double real; |
scarter1 | 0:020db18a476d | 62 | uint64_t base; |
scarter1 | 0:020db18a476d | 63 | } u_attenuation_linear; |
scarter1 | 0:020db18a476d | 64 | u_attenuation_linear.real = this->attenuation_linear; |
scarter1 | 0:020db18a476d | 65 | *(outbuffer + offset + 0) = (u_attenuation_linear.base >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 66 | *(outbuffer + offset + 1) = (u_attenuation_linear.base >> (8 * 1)) & 0xFF; |
scarter1 | 0:020db18a476d | 67 | *(outbuffer + offset + 2) = (u_attenuation_linear.base >> (8 * 2)) & 0xFF; |
scarter1 | 0:020db18a476d | 68 | *(outbuffer + offset + 3) = (u_attenuation_linear.base >> (8 * 3)) & 0xFF; |
scarter1 | 0:020db18a476d | 69 | *(outbuffer + offset + 4) = (u_attenuation_linear.base >> (8 * 4)) & 0xFF; |
scarter1 | 0:020db18a476d | 70 | *(outbuffer + offset + 5) = (u_attenuation_linear.base >> (8 * 5)) & 0xFF; |
scarter1 | 0:020db18a476d | 71 | *(outbuffer + offset + 6) = (u_attenuation_linear.base >> (8 * 6)) & 0xFF; |
scarter1 | 0:020db18a476d | 72 | *(outbuffer + offset + 7) = (u_attenuation_linear.base >> (8 * 7)) & 0xFF; |
scarter1 | 0:020db18a476d | 73 | offset += sizeof(this->attenuation_linear); |
scarter1 | 0:020db18a476d | 74 | union { |
scarter1 | 0:020db18a476d | 75 | double real; |
scarter1 | 0:020db18a476d | 76 | uint64_t base; |
scarter1 | 0:020db18a476d | 77 | } u_attenuation_quadratic; |
scarter1 | 0:020db18a476d | 78 | u_attenuation_quadratic.real = this->attenuation_quadratic; |
scarter1 | 0:020db18a476d | 79 | *(outbuffer + offset + 0) = (u_attenuation_quadratic.base >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 80 | *(outbuffer + offset + 1) = (u_attenuation_quadratic.base >> (8 * 1)) & 0xFF; |
scarter1 | 0:020db18a476d | 81 | *(outbuffer + offset + 2) = (u_attenuation_quadratic.base >> (8 * 2)) & 0xFF; |
scarter1 | 0:020db18a476d | 82 | *(outbuffer + offset + 3) = (u_attenuation_quadratic.base >> (8 * 3)) & 0xFF; |
scarter1 | 0:020db18a476d | 83 | *(outbuffer + offset + 4) = (u_attenuation_quadratic.base >> (8 * 4)) & 0xFF; |
scarter1 | 0:020db18a476d | 84 | *(outbuffer + offset + 5) = (u_attenuation_quadratic.base >> (8 * 5)) & 0xFF; |
scarter1 | 0:020db18a476d | 85 | *(outbuffer + offset + 6) = (u_attenuation_quadratic.base >> (8 * 6)) & 0xFF; |
scarter1 | 0:020db18a476d | 86 | *(outbuffer + offset + 7) = (u_attenuation_quadratic.base >> (8 * 7)) & 0xFF; |
scarter1 | 0:020db18a476d | 87 | offset += sizeof(this->attenuation_quadratic); |
scarter1 | 0:020db18a476d | 88 | return offset; |
scarter1 | 0:020db18a476d | 89 | } |
scarter1 | 0:020db18a476d | 90 | |
scarter1 | 0:020db18a476d | 91 | virtual int deserialize(unsigned char *inbuffer) |
scarter1 | 0:020db18a476d | 92 | { |
scarter1 | 0:020db18a476d | 93 | int offset = 0; |
scarter1 | 0:020db18a476d | 94 | uint32_t length_light_name; |
scarter1 | 0:020db18a476d | 95 | arrToVar(length_light_name, (inbuffer + offset)); |
scarter1 | 0:020db18a476d | 96 | offset += 4; |
scarter1 | 0:020db18a476d | 97 | for(unsigned int k= offset; k< offset+length_light_name; ++k){ |
scarter1 | 0:020db18a476d | 98 | inbuffer[k-1]=inbuffer[k]; |
scarter1 | 0:020db18a476d | 99 | } |
scarter1 | 0:020db18a476d | 100 | inbuffer[offset+length_light_name-1]=0; |
scarter1 | 0:020db18a476d | 101 | this->light_name = (char *)(inbuffer + offset-1); |
scarter1 | 0:020db18a476d | 102 | offset += length_light_name; |
scarter1 | 0:020db18a476d | 103 | offset += this->diffuse.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 104 | union { |
scarter1 | 0:020db18a476d | 105 | double real; |
scarter1 | 0:020db18a476d | 106 | uint64_t base; |
scarter1 | 0:020db18a476d | 107 | } u_attenuation_constant; |
scarter1 | 0:020db18a476d | 108 | u_attenuation_constant.base = 0; |
scarter1 | 0:020db18a476d | 109 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
scarter1 | 0:020db18a476d | 110 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
scarter1 | 0:020db18a476d | 111 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
scarter1 | 0:020db18a476d | 112 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
scarter1 | 0:020db18a476d | 113 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
scarter1 | 0:020db18a476d | 114 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
scarter1 | 0:020db18a476d | 115 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
scarter1 | 0:020db18a476d | 116 | u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
scarter1 | 0:020db18a476d | 117 | this->attenuation_constant = u_attenuation_constant.real; |
scarter1 | 0:020db18a476d | 118 | offset += sizeof(this->attenuation_constant); |
scarter1 | 0:020db18a476d | 119 | union { |
scarter1 | 0:020db18a476d | 120 | double real; |
scarter1 | 0:020db18a476d | 121 | uint64_t base; |
scarter1 | 0:020db18a476d | 122 | } u_attenuation_linear; |
scarter1 | 0:020db18a476d | 123 | u_attenuation_linear.base = 0; |
scarter1 | 0:020db18a476d | 124 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
scarter1 | 0:020db18a476d | 125 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
scarter1 | 0:020db18a476d | 126 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
scarter1 | 0:020db18a476d | 127 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
scarter1 | 0:020db18a476d | 128 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
scarter1 | 0:020db18a476d | 129 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
scarter1 | 0:020db18a476d | 130 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
scarter1 | 0:020db18a476d | 131 | u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
scarter1 | 0:020db18a476d | 132 | this->attenuation_linear = u_attenuation_linear.real; |
scarter1 | 0:020db18a476d | 133 | offset += sizeof(this->attenuation_linear); |
scarter1 | 0:020db18a476d | 134 | union { |
scarter1 | 0:020db18a476d | 135 | double real; |
scarter1 | 0:020db18a476d | 136 | uint64_t base; |
scarter1 | 0:020db18a476d | 137 | } u_attenuation_quadratic; |
scarter1 | 0:020db18a476d | 138 | u_attenuation_quadratic.base = 0; |
scarter1 | 0:020db18a476d | 139 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
scarter1 | 0:020db18a476d | 140 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
scarter1 | 0:020db18a476d | 141 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
scarter1 | 0:020db18a476d | 142 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
scarter1 | 0:020db18a476d | 143 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
scarter1 | 0:020db18a476d | 144 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
scarter1 | 0:020db18a476d | 145 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
scarter1 | 0:020db18a476d | 146 | u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
scarter1 | 0:020db18a476d | 147 | this->attenuation_quadratic = u_attenuation_quadratic.real; |
scarter1 | 0:020db18a476d | 148 | offset += sizeof(this->attenuation_quadratic); |
scarter1 | 0:020db18a476d | 149 | return offset; |
scarter1 | 0:020db18a476d | 150 | } |
scarter1 | 0:020db18a476d | 151 | |
scarter1 | 0:020db18a476d | 152 | const char * getType(){ return SETLIGHTPROPERTIES; }; |
scarter1 | 0:020db18a476d | 153 | const char * getMD5(){ return "73ad1ac5e9e312ddf7c74f38ad843f34"; }; |
scarter1 | 0:020db18a476d | 154 | |
scarter1 | 0:020db18a476d | 155 | }; |
scarter1 | 0:020db18a476d | 156 | |
scarter1 | 0:020db18a476d | 157 | class SetLightPropertiesResponse : public ros::Msg |
scarter1 | 0:020db18a476d | 158 | { |
scarter1 | 0:020db18a476d | 159 | public: |
scarter1 | 0:020db18a476d | 160 | typedef bool _success_type; |
scarter1 | 0:020db18a476d | 161 | _success_type success; |
scarter1 | 0:020db18a476d | 162 | typedef const char* _status_message_type; |
scarter1 | 0:020db18a476d | 163 | _status_message_type status_message; |
scarter1 | 0:020db18a476d | 164 | |
scarter1 | 0:020db18a476d | 165 | SetLightPropertiesResponse(): |
scarter1 | 0:020db18a476d | 166 | success(0), |
scarter1 | 0:020db18a476d | 167 | status_message("") |
scarter1 | 0:020db18a476d | 168 | { |
scarter1 | 0:020db18a476d | 169 | } |
scarter1 | 0:020db18a476d | 170 | |
scarter1 | 0:020db18a476d | 171 | virtual int serialize(unsigned char *outbuffer) const |
scarter1 | 0:020db18a476d | 172 | { |
scarter1 | 0:020db18a476d | 173 | int offset = 0; |
scarter1 | 0:020db18a476d | 174 | union { |
scarter1 | 0:020db18a476d | 175 | bool real; |
scarter1 | 0:020db18a476d | 176 | uint8_t base; |
scarter1 | 0:020db18a476d | 177 | } u_success; |
scarter1 | 0:020db18a476d | 178 | u_success.real = this->success; |
scarter1 | 0:020db18a476d | 179 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 180 | offset += sizeof(this->success); |
scarter1 | 0:020db18a476d | 181 | uint32_t length_status_message = strlen(this->status_message); |
scarter1 | 0:020db18a476d | 182 | varToArr(outbuffer + offset, length_status_message); |
scarter1 | 0:020db18a476d | 183 | offset += 4; |
scarter1 | 0:020db18a476d | 184 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
scarter1 | 0:020db18a476d | 185 | offset += length_status_message; |
scarter1 | 0:020db18a476d | 186 | return offset; |
scarter1 | 0:020db18a476d | 187 | } |
scarter1 | 0:020db18a476d | 188 | |
scarter1 | 0:020db18a476d | 189 | virtual int deserialize(unsigned char *inbuffer) |
scarter1 | 0:020db18a476d | 190 | { |
scarter1 | 0:020db18a476d | 191 | int offset = 0; |
scarter1 | 0:020db18a476d | 192 | union { |
scarter1 | 0:020db18a476d | 193 | bool real; |
scarter1 | 0:020db18a476d | 194 | uint8_t base; |
scarter1 | 0:020db18a476d | 195 | } u_success; |
scarter1 | 0:020db18a476d | 196 | u_success.base = 0; |
scarter1 | 0:020db18a476d | 197 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
scarter1 | 0:020db18a476d | 198 | this->success = u_success.real; |
scarter1 | 0:020db18a476d | 199 | offset += sizeof(this->success); |
scarter1 | 0:020db18a476d | 200 | uint32_t length_status_message; |
scarter1 | 0:020db18a476d | 201 | arrToVar(length_status_message, (inbuffer + offset)); |
scarter1 | 0:020db18a476d | 202 | offset += 4; |
scarter1 | 0:020db18a476d | 203 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
scarter1 | 0:020db18a476d | 204 | inbuffer[k-1]=inbuffer[k]; |
scarter1 | 0:020db18a476d | 205 | } |
scarter1 | 0:020db18a476d | 206 | inbuffer[offset+length_status_message-1]=0; |
scarter1 | 0:020db18a476d | 207 | this->status_message = (char *)(inbuffer + offset-1); |
scarter1 | 0:020db18a476d | 208 | offset += length_status_message; |
scarter1 | 0:020db18a476d | 209 | return offset; |
scarter1 | 0:020db18a476d | 210 | } |
scarter1 | 0:020db18a476d | 211 | |
scarter1 | 0:020db18a476d | 212 | const char * getType(){ return SETLIGHTPROPERTIES; }; |
scarter1 | 0:020db18a476d | 213 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
scarter1 | 0:020db18a476d | 214 | |
scarter1 | 0:020db18a476d | 215 | }; |
scarter1 | 0:020db18a476d | 216 | |
scarter1 | 0:020db18a476d | 217 | class SetLightProperties { |
scarter1 | 0:020db18a476d | 218 | public: |
scarter1 | 0:020db18a476d | 219 | typedef SetLightPropertiesRequest Request; |
scarter1 | 0:020db18a476d | 220 | typedef SetLightPropertiesResponse Response; |
scarter1 | 0:020db18a476d | 221 | }; |
scarter1 | 0:020db18a476d | 222 | |
scarter1 | 0:020db18a476d | 223 | } |
scarter1 | 0:020db18a476d | 224 | #endif |