annop niponsiritham
/
ros_lib_kinetic
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Dependents: mobile_robot mobile_robot_ver2
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GetWorldProperties.h
00001 #ifndef _ROS_SERVICE_GetWorldProperties_h 00002 #define _ROS_SERVICE_GetWorldProperties_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 00008 namespace gazebo_msgs 00009 { 00010 00011 static const char GETWORLDPROPERTIES[] = "gazebo_msgs/GetWorldProperties"; 00012 00013 class GetWorldPropertiesRequest : public ros::Msg 00014 { 00015 public: 00016 00017 GetWorldPropertiesRequest() 00018 { 00019 } 00020 00021 virtual int serialize(unsigned char *outbuffer) const 00022 { 00023 int offset = 0; 00024 return offset; 00025 } 00026 00027 virtual int deserialize(unsigned char *inbuffer) 00028 { 00029 int offset = 0; 00030 return offset; 00031 } 00032 00033 const char * getType(){ return GETWORLDPROPERTIES; }; 00034 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; 00035 00036 }; 00037 00038 class GetWorldPropertiesResponse : public ros::Msg 00039 { 00040 public: 00041 typedef double _sim_time_type; 00042 _sim_time_type sim_time; 00043 uint32_t model_names_length; 00044 typedef char* _model_names_type; 00045 _model_names_type st_model_names; 00046 _model_names_type * model_names; 00047 typedef bool _rendering_enabled_type; 00048 _rendering_enabled_type rendering_enabled; 00049 typedef bool _success_type; 00050 _success_type success; 00051 typedef const char* _status_message_type; 00052 _status_message_type status_message; 00053 00054 GetWorldPropertiesResponse(): 00055 sim_time(0), 00056 model_names_length(0), model_names(NULL), 00057 rendering_enabled(0), 00058 success(0), 00059 status_message("") 00060 { 00061 } 00062 00063 virtual int serialize(unsigned char *outbuffer) const 00064 { 00065 int offset = 0; 00066 union { 00067 double real; 00068 uint64_t base; 00069 } u_sim_time; 00070 u_sim_time.real = this->sim_time; 00071 *(outbuffer + offset + 0) = (u_sim_time.base >> (8 * 0)) & 0xFF; 00072 *(outbuffer + offset + 1) = (u_sim_time.base >> (8 * 1)) & 0xFF; 00073 *(outbuffer + offset + 2) = (u_sim_time.base >> (8 * 2)) & 0xFF; 00074 *(outbuffer + offset + 3) = (u_sim_time.base >> (8 * 3)) & 0xFF; 00075 *(outbuffer + offset + 4) = (u_sim_time.base >> (8 * 4)) & 0xFF; 00076 *(outbuffer + offset + 5) = (u_sim_time.base >> (8 * 5)) & 0xFF; 00077 *(outbuffer + offset + 6) = (u_sim_time.base >> (8 * 6)) & 0xFF; 00078 *(outbuffer + offset + 7) = (u_sim_time.base >> (8 * 7)) & 0xFF; 00079 offset += sizeof(this->sim_time); 00080 *(outbuffer + offset + 0) = (this->model_names_length >> (8 * 0)) & 0xFF; 00081 *(outbuffer + offset + 1) = (this->model_names_length >> (8 * 1)) & 0xFF; 00082 *(outbuffer + offset + 2) = (this->model_names_length >> (8 * 2)) & 0xFF; 00083 *(outbuffer + offset + 3) = (this->model_names_length >> (8 * 3)) & 0xFF; 00084 offset += sizeof(this->model_names_length); 00085 for( uint32_t i = 0; i < model_names_length; i++){ 00086 uint32_t length_model_namesi = strlen(this->model_names[i]); 00087 varToArr(outbuffer + offset, length_model_namesi); 00088 offset += 4; 00089 memcpy(outbuffer + offset, this->model_names[i], length_model_namesi); 00090 offset += length_model_namesi; 00091 } 00092 union { 00093 bool real; 00094 uint8_t base; 00095 } u_rendering_enabled; 00096 u_rendering_enabled.real = this->rendering_enabled; 00097 *(outbuffer + offset + 0) = (u_rendering_enabled.base >> (8 * 0)) & 0xFF; 00098 offset += sizeof(this->rendering_enabled); 00099 union { 00100 bool real; 00101 uint8_t base; 00102 } u_success; 00103 u_success.real = this->success; 00104 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00105 offset += sizeof(this->success); 00106 uint32_t length_status_message = strlen(this->status_message); 00107 varToArr(outbuffer + offset, length_status_message); 00108 offset += 4; 00109 memcpy(outbuffer + offset, this->status_message, length_status_message); 00110 offset += length_status_message; 00111 return offset; 00112 } 00113 00114 virtual int deserialize(unsigned char *inbuffer) 00115 { 00116 int offset = 0; 00117 union { 00118 double real; 00119 uint64_t base; 00120 } u_sim_time; 00121 u_sim_time.base = 0; 00122 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00123 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00124 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00125 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00126 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00127 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00128 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00129 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00130 this->sim_time = u_sim_time.real; 00131 offset += sizeof(this->sim_time); 00132 uint32_t model_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 00133 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00134 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00135 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00136 offset += sizeof(this->model_names_length); 00137 if(model_names_lengthT > model_names_length) 00138 this->model_names = (char**)realloc(this->model_names, model_names_lengthT * sizeof(char*)); 00139 model_names_length = model_names_lengthT; 00140 for( uint32_t i = 0; i < model_names_length; i++){ 00141 uint32_t length_st_model_names; 00142 arrToVar(length_st_model_names, (inbuffer + offset)); 00143 offset += 4; 00144 for(unsigned int k= offset; k< offset+length_st_model_names; ++k){ 00145 inbuffer[k-1]=inbuffer[k]; 00146 } 00147 inbuffer[offset+length_st_model_names-1]=0; 00148 this->st_model_names = (char *)(inbuffer + offset-1); 00149 offset += length_st_model_names; 00150 memcpy( &(this->model_names[i]), &(this->st_model_names), sizeof(char*)); 00151 } 00152 union { 00153 bool real; 00154 uint8_t base; 00155 } u_rendering_enabled; 00156 u_rendering_enabled.base = 0; 00157 u_rendering_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00158 this->rendering_enabled = u_rendering_enabled.real; 00159 offset += sizeof(this->rendering_enabled); 00160 union { 00161 bool real; 00162 uint8_t base; 00163 } u_success; 00164 u_success.base = 0; 00165 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00166 this->success = u_success.real; 00167 offset += sizeof(this->success); 00168 uint32_t length_status_message; 00169 arrToVar(length_status_message, (inbuffer + offset)); 00170 offset += 4; 00171 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00172 inbuffer[k-1]=inbuffer[k]; 00173 } 00174 inbuffer[offset+length_status_message-1]=0; 00175 this->status_message = (char *)(inbuffer + offset-1); 00176 offset += length_status_message; 00177 return offset; 00178 } 00179 00180 const char * getType(){ return GETWORLDPROPERTIES; }; 00181 const char * getMD5(){ return "36bb0f2eccf4d8be971410c22818ba3f"; }; 00182 00183 }; 00184 00185 class GetWorldProperties { 00186 public: 00187 typedef GetWorldPropertiesRequest Request; 00188 typedef GetWorldPropertiesResponse Response; 00189 }; 00190 00191 } 00192 #endif
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