SpawnModel.h

00001 #ifndef _ROS_SERVICE_SpawnModel_h
00002 #define _ROS_SERVICE_SpawnModel_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/Pose.h"
00008 
00009 namespace gazebo_msgs
00010 {
00011 
00012 static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
00013 
00014   class SpawnModelRequest : public ros::Msg
00015   {
00016     public:
00017       typedef const char* _model_name_type;
00018       _model_name_type model_name;
00019       typedef const char* _model_xml_type;
00020       _model_xml_type model_xml;
00021       typedef const char* _robot_namespace_type;
00022       _robot_namespace_type robot_namespace;
00023       typedef geometry_msgs::Pose _initial_pose_type;
00024       _initial_pose_type initial_pose;
00025       typedef const char* _reference_frame_type;
00026       _reference_frame_type reference_frame;
00027 
00028     SpawnModelRequest():
00029       model_name(""),
00030       model_xml(""),
00031       robot_namespace(""),
00032       initial_pose(),
00033       reference_frame("")
00034     {
00035     }
00036 
00037     virtual int serialize(unsigned char *outbuffer) const
00038     {
00039       int offset = 0;
00040       uint32_t length_model_name = strlen(this->model_name);
00041       varToArr(outbuffer + offset, length_model_name);
00042       offset += 4;
00043       memcpy(outbuffer + offset, this->model_name, length_model_name);
00044       offset += length_model_name;
00045       uint32_t length_model_xml = strlen(this->model_xml);
00046       varToArr(outbuffer + offset, length_model_xml);
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->model_xml, length_model_xml);
00049       offset += length_model_xml;
00050       uint32_t length_robot_namespace = strlen(this->robot_namespace);
00051       varToArr(outbuffer + offset, length_robot_namespace);
00052       offset += 4;
00053       memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
00054       offset += length_robot_namespace;
00055       offset += this->initial_pose.serialize(outbuffer + offset);
00056       uint32_t length_reference_frame = strlen(this->reference_frame);
00057       varToArr(outbuffer + offset, length_reference_frame);
00058       offset += 4;
00059       memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
00060       offset += length_reference_frame;
00061       return offset;
00062     }
00063 
00064     virtual int deserialize(unsigned char *inbuffer)
00065     {
00066       int offset = 0;
00067       uint32_t length_model_name;
00068       arrToVar(length_model_name, (inbuffer + offset));
00069       offset += 4;
00070       for(unsigned int k= offset; k< offset+length_model_name; ++k){
00071           inbuffer[k-1]=inbuffer[k];
00072       }
00073       inbuffer[offset+length_model_name-1]=0;
00074       this->model_name = (char *)(inbuffer + offset-1);
00075       offset += length_model_name;
00076       uint32_t length_model_xml;
00077       arrToVar(length_model_xml, (inbuffer + offset));
00078       offset += 4;
00079       for(unsigned int k= offset; k< offset+length_model_xml; ++k){
00080           inbuffer[k-1]=inbuffer[k];
00081       }
00082       inbuffer[offset+length_model_xml-1]=0;
00083       this->model_xml = (char *)(inbuffer + offset-1);
00084       offset += length_model_xml;
00085       uint32_t length_robot_namespace;
00086       arrToVar(length_robot_namespace, (inbuffer + offset));
00087       offset += 4;
00088       for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
00089           inbuffer[k-1]=inbuffer[k];
00090       }
00091       inbuffer[offset+length_robot_namespace-1]=0;
00092       this->robot_namespace = (char *)(inbuffer + offset-1);
00093       offset += length_robot_namespace;
00094       offset += this->initial_pose.deserialize(inbuffer + offset);
00095       uint32_t length_reference_frame;
00096       arrToVar(length_reference_frame, (inbuffer + offset));
00097       offset += 4;
00098       for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
00099           inbuffer[k-1]=inbuffer[k];
00100       }
00101       inbuffer[offset+length_reference_frame-1]=0;
00102       this->reference_frame = (char *)(inbuffer + offset-1);
00103       offset += length_reference_frame;
00104      return offset;
00105     }
00106 
00107     const char * getType(){ return SPAWNMODEL; };
00108     const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
00109 
00110   };
00111 
00112   class SpawnModelResponse : public ros::Msg
00113   {
00114     public:
00115       typedef bool _success_type;
00116       _success_type success;
00117       typedef const char* _status_message_type;
00118       _status_message_type status_message;
00119 
00120     SpawnModelResponse():
00121       success(0),
00122       status_message("")
00123     {
00124     }
00125 
00126     virtual int serialize(unsigned char *outbuffer) const
00127     {
00128       int offset = 0;
00129       union {
00130         bool real;
00131         uint8_t base;
00132       } u_success;
00133       u_success.real = this->success;
00134       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00135       offset += sizeof(this->success);
00136       uint32_t length_status_message = strlen(this->status_message);
00137       varToArr(outbuffer + offset, length_status_message);
00138       offset += 4;
00139       memcpy(outbuffer + offset, this->status_message, length_status_message);
00140       offset += length_status_message;
00141       return offset;
00142     }
00143 
00144     virtual int deserialize(unsigned char *inbuffer)
00145     {
00146       int offset = 0;
00147       union {
00148         bool real;
00149         uint8_t base;
00150       } u_success;
00151       u_success.base = 0;
00152       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00153       this->success = u_success.real;
00154       offset += sizeof(this->success);
00155       uint32_t length_status_message;
00156       arrToVar(length_status_message, (inbuffer + offset));
00157       offset += 4;
00158       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00159           inbuffer[k-1]=inbuffer[k];
00160       }
00161       inbuffer[offset+length_status_message-1]=0;
00162       this->status_message = (char *)(inbuffer + offset-1);
00163       offset += length_status_message;
00164      return offset;
00165     }
00166 
00167     const char * getType(){ return SPAWNMODEL; };
00168     const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
00169 
00170   };
00171 
00172   class SpawnModel {
00173     public:
00174     typedef SpawnModelRequest Request;
00175     typedef SpawnModelResponse Response;
00176   };
00177 
00178 }
00179 #endif