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Diff: gazebo_msgs/SetModelConfiguration.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/gazebo_msgs/SetModelConfiguration.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,228 @@ +#ifndef _ROS_SERVICE_SetModelConfiguration_h +#define _ROS_SERVICE_SetModelConfiguration_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace gazebo_msgs +{ + +static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration"; + + class SetModelConfigurationRequest : public ros::Msg + { + public: + typedef const char* _model_name_type; + _model_name_type model_name; + typedef const char* _urdf_param_name_type; + _urdf_param_name_type urdf_param_name; + uint32_t joint_names_length; + typedef char* _joint_names_type; + _joint_names_type st_joint_names; + _joint_names_type * joint_names; + uint32_t joint_positions_length; + typedef double _joint_positions_type; + _joint_positions_type st_joint_positions; + _joint_positions_type * joint_positions; + + SetModelConfigurationRequest(): + model_name(""), + urdf_param_name(""), + joint_names_length(0), joint_names(NULL), + joint_positions_length(0), joint_positions(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_model_name = strlen(this->model_name); + varToArr(outbuffer + offset, length_model_name); + offset += 4; + memcpy(outbuffer + offset, this->model_name, length_model_name); + offset += length_model_name; + uint32_t length_urdf_param_name = strlen(this->urdf_param_name); + varToArr(outbuffer + offset, length_urdf_param_name); + offset += 4; + memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); + offset += length_urdf_param_name; + *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->joint_names_length); + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_joint_namesi = strlen(this->joint_names[i]); + varToArr(outbuffer + offset, length_joint_namesi); + offset += 4; + memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); + offset += length_joint_namesi; + } + *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->joint_positions_length); + for( uint32_t i = 0; i < joint_positions_length; i++){ + union { + double real; + uint64_t base; + } u_joint_positionsi; + u_joint_positionsi.real = this->joint_positions[i]; + *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->joint_positions[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_model_name; + arrToVar(length_model_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_model_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_model_name-1]=0; + this->model_name = (char *)(inbuffer + offset-1); + offset += length_model_name; + uint32_t length_urdf_param_name; + arrToVar(length_urdf_param_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_urdf_param_name-1]=0; + this->urdf_param_name = (char *)(inbuffer + offset-1); + offset += length_urdf_param_name; + uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->joint_names_length); + if(joint_names_lengthT > joint_names_length) + this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); + joint_names_length = joint_names_lengthT; + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_st_joint_names; + arrToVar(length_st_joint_names, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_joint_names-1]=0; + this->st_joint_names = (char *)(inbuffer + offset-1); + offset += length_st_joint_names; + memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); + } + uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); + joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->joint_positions_length); + if(joint_positions_lengthT > joint_positions_length) + this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double)); + joint_positions_length = joint_positions_lengthT; + for( uint32_t i = 0; i < joint_positions_length; i++){ + union { + double real; + uint64_t base; + } u_st_joint_positions; + u_st_joint_positions.base = 0; + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_joint_positions = u_st_joint_positions.real; + offset += sizeof(this->st_joint_positions); + memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double)); + } + return offset; + } + + const char * getType(){ return SETMODELCONFIGURATION; }; + const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; + + }; + + class SetModelConfigurationResponse : public ros::Msg + { + public: + typedef bool _success_type; + _success_type success; + typedef const char* _status_message_type; + _status_message_type status_message; + + SetModelConfigurationResponse(): + success(0), + status_message("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + 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; + 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 SETMODELCONFIGURATION; }; + const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; + + }; + + class SetModelConfiguration { + public: + typedef SetModelConfigurationRequest Request; + typedef SetModelConfigurationResponse Response; + }; + +} +#endif