Fork of ROS Serial Library
Dependencies: BufferedSerial
gazebo_msgs/GetJointProperties.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_SERVICE_GetJointProperties_h #define _ROS_SERVICE_GetJointProperties_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace gazebo_msgs { static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties"; class GetJointPropertiesRequest : public ros::Msg { public: typedef const char* _joint_name_type; _joint_name_type joint_name; GetJointPropertiesRequest(): joint_name("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_joint_name = strlen(this->joint_name); varToArr(outbuffer + offset, length_joint_name); offset += 4; memcpy(outbuffer + offset, this->joint_name, length_joint_name); offset += length_joint_name; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_joint_name; arrToVar(length_joint_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_joint_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_joint_name-1]=0; this->joint_name = (char *)(inbuffer + offset-1); offset += length_joint_name; return offset; } const char * getType(){ return GETJOINTPROPERTIES; }; const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; }; }; class GetJointPropertiesResponse : public ros::Msg { public: typedef uint8_t _type_type; _type_type type; uint32_t damping_length; typedef double _damping_type; _damping_type st_damping; _damping_type * damping; uint32_t position_length; typedef double _position_type; _position_type st_position; _position_type * position; uint32_t rate_length; typedef double _rate_type; _rate_type st_rate; _rate_type * rate; typedef bool _success_type; _success_type success; typedef const char* _status_message_type; _status_message_type status_message; enum { REVOLUTE = 0 }; enum { CONTINUOUS = 1 }; enum { PRISMATIC = 2 }; enum { FIXED = 3 }; enum { BALL = 4 }; enum { UNIVERSAL = 5 }; GetJointPropertiesResponse(): type(0), damping_length(0), damping(NULL), position_length(0), position(NULL), rate_length(0), rate(NULL), success(0), status_message("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; offset += sizeof(this->type); *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF; offset += sizeof(this->damping_length); for( uint32_t i = 0; i < damping_length; i++){ union { double real; uint64_t base; } u_dampingi; u_dampingi.real = this->damping[i]; *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->damping[i]); } *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF; offset += sizeof(this->position_length); for( uint32_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_positioni; u_positioni.real = this->position[i]; *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; offset += sizeof(this->position[i]); } *(outbuffer + offset + 0) = (this->rate_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->rate_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->rate_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->rate_length >> (8 * 3)) & 0xFF; offset += sizeof(this->rate_length); for( uint32_t i = 0; i < rate_length; i++){ union { double real; uint64_t base; } u_ratei; u_ratei.real = this->rate[i]; *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF; offset += sizeof(this->rate[i]); } union { bool real; uint8_t base; } u_success; u_success.real = this->success; *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; offset += sizeof(this->success); uint32_t length_status_message = strlen(this->status_message); varToArr(outbuffer + offset, length_status_message); offset += 4; memcpy(outbuffer + offset, this->status_message, length_status_message); offset += length_status_message; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; this->type = ((uint8_t) (*(inbuffer + offset))); offset += sizeof(this->type); uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->damping_length); if(damping_lengthT > damping_length) this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double)); damping_length = damping_lengthT; for( uint32_t i = 0; i < damping_length; i++){ union { double real; uint64_t base; } u_st_damping; u_st_damping.base = 0; u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_damping = u_st_damping.real; offset += sizeof(this->st_damping); memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double)); } uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->position_length); if(position_lengthT > position_length) this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); position_length = position_lengthT; for( uint32_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_st_position; u_st_position.base = 0; u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_position = u_st_position.real; offset += sizeof(this->st_position); memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); } uint32_t rate_lengthT = ((uint32_t) (*(inbuffer + offset))); rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->rate_length); if(rate_lengthT > rate_length) this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double)); rate_length = rate_lengthT; for( uint32_t i = 0; i < rate_length; i++){ union { double real; uint64_t base; } u_st_rate; u_st_rate.base = 0; u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_rate = u_st_rate.real; offset += sizeof(this->st_rate); memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double)); } union { bool real; uint8_t base; } u_success; u_success.base = 0; u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->success = u_success.real; offset += sizeof(this->success); uint32_t length_status_message; arrToVar(length_status_message, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_status_message; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_status_message-1]=0; this->status_message = (char *)(inbuffer + offset-1); offset += length_status_message; return offset; } const char * getType(){ return GETJOINTPROPERTIES; }; const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; }; }; class GetJointProperties { public: typedef GetJointPropertiesRequest Request; typedef GetJointPropertiesResponse Response; }; } #endif