Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

gazebo_msgs/ApplyBodyWrench.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_SERVICE_ApplyBodyWrench_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_ApplyBodyWrench_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7 #include "ros/duration.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/Wrench.h"
akashvibhute 0:30537dec6e0b 9 #include "ros/time.h"
akashvibhute 0:30537dec6e0b 10 #include "geometry_msgs/Point.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 class ApplyBodyWrenchRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 public:
akashvibhute 0:30537dec6e0b 20 const char* body_name;
akashvibhute 0:30537dec6e0b 21 const char* reference_frame;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Point reference_point;
akashvibhute 0:30537dec6e0b 23 geometry_msgs::Wrench wrench;
akashvibhute 0:30537dec6e0b 24 ros::Time start_time;
akashvibhute 0:30537dec6e0b 25 ros::Duration duration;
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 ApplyBodyWrenchRequest():
akashvibhute 0:30537dec6e0b 28 body_name(""),
akashvibhute 0:30537dec6e0b 29 reference_frame(""),
akashvibhute 0:30537dec6e0b 30 reference_point(),
akashvibhute 0:30537dec6e0b 31 wrench(),
akashvibhute 0:30537dec6e0b 32 start_time(),
akashvibhute 0:30537dec6e0b 33 duration()
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 }
akashvibhute 0:30537dec6e0b 36
akashvibhute 0:30537dec6e0b 37 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 38 {
akashvibhute 0:30537dec6e0b 39 int offset = 0;
akashvibhute 0:30537dec6e0b 40 uint32_t length_body_name = strlen(this->body_name);
akashvibhute 0:30537dec6e0b 41 memcpy(outbuffer + offset, &length_body_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 42 offset += 4;
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, this->body_name, length_body_name);
akashvibhute 0:30537dec6e0b 44 offset += length_body_name;
akashvibhute 0:30537dec6e0b 45 uint32_t length_reference_frame = strlen(this->reference_frame);
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
akashvibhute 0:30537dec6e0b 49 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 50 offset += this->reference_point.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 51 offset += this->wrench.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 offset += sizeof(this->start_time.sec);
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 offset += sizeof(this->start_time.nsec);
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 offset += sizeof(this->duration.sec);
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 71 offset += sizeof(this->duration.nsec);
akashvibhute 0:30537dec6e0b 72 return offset;
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74
akashvibhute 0:30537dec6e0b 75 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 76 {
akashvibhute 0:30537dec6e0b 77 int offset = 0;
akashvibhute 0:30537dec6e0b 78 uint32_t length_body_name;
akashvibhute 0:30537dec6e0b 79 memcpy(&length_body_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 80 offset += 4;
akashvibhute 0:30537dec6e0b 81 for(unsigned int k= offset; k< offset+length_body_name; ++k){
akashvibhute 0:30537dec6e0b 82 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84 inbuffer[offset+length_body_name-1]=0;
akashvibhute 0:30537dec6e0b 85 this->body_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 86 offset += length_body_name;
akashvibhute 0:30537dec6e0b 87 uint32_t length_reference_frame;
akashvibhute 0:30537dec6e0b 88 memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 89 offset += 4;
akashvibhute 0:30537dec6e0b 90 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
akashvibhute 0:30537dec6e0b 91 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 92 }
akashvibhute 0:30537dec6e0b 93 inbuffer[offset+length_reference_frame-1]=0;
akashvibhute 0:30537dec6e0b 94 this->reference_frame = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 95 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 96 offset += this->reference_point.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 97 offset += this->wrench.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 98 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 99 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 100 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 101 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 102 offset += sizeof(this->start_time.sec);
akashvibhute 0:30537dec6e0b 103 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 104 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 105 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 106 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 107 offset += sizeof(this->start_time.nsec);
akashvibhute 0:30537dec6e0b 108 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 109 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 110 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 111 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 112 offset += sizeof(this->duration.sec);
akashvibhute 0:30537dec6e0b 113 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 114 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 115 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 116 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 117 offset += sizeof(this->duration.nsec);
akashvibhute 0:30537dec6e0b 118 return offset;
akashvibhute 0:30537dec6e0b 119 }
akashvibhute 0:30537dec6e0b 120
akashvibhute 0:30537dec6e0b 121 const char * getType(){ return APPLYBODYWRENCH; };
akashvibhute 0:30537dec6e0b 122 const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
akashvibhute 0:30537dec6e0b 123
akashvibhute 0:30537dec6e0b 124 };
akashvibhute 0:30537dec6e0b 125
akashvibhute 0:30537dec6e0b 126 class ApplyBodyWrenchResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 127 {
akashvibhute 0:30537dec6e0b 128 public:
akashvibhute 0:30537dec6e0b 129 bool success;
akashvibhute 0:30537dec6e0b 130 const char* status_message;
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 ApplyBodyWrenchResponse():
akashvibhute 0:30537dec6e0b 133 success(0),
akashvibhute 0:30537dec6e0b 134 status_message("")
akashvibhute 0:30537dec6e0b 135 {
akashvibhute 0:30537dec6e0b 136 }
akashvibhute 0:30537dec6e0b 137
akashvibhute 0:30537dec6e0b 138 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 139 {
akashvibhute 0:30537dec6e0b 140 int offset = 0;
akashvibhute 0:30537dec6e0b 141 union {
akashvibhute 0:30537dec6e0b 142 bool real;
akashvibhute 0:30537dec6e0b 143 uint8_t base;
akashvibhute 0:30537dec6e0b 144 } u_success;
akashvibhute 0:30537dec6e0b 145 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 146 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 147 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 148 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 149 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 150 offset += 4;
akashvibhute 0:30537dec6e0b 151 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 152 offset += length_status_message;
akashvibhute 0:30537dec6e0b 153 return offset;
akashvibhute 0:30537dec6e0b 154 }
akashvibhute 0:30537dec6e0b 155
akashvibhute 0:30537dec6e0b 156 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 157 {
akashvibhute 0:30537dec6e0b 158 int offset = 0;
akashvibhute 0:30537dec6e0b 159 union {
akashvibhute 0:30537dec6e0b 160 bool real;
akashvibhute 0:30537dec6e0b 161 uint8_t base;
akashvibhute 0:30537dec6e0b 162 } u_success;
akashvibhute 0:30537dec6e0b 163 u_success.base = 0;
akashvibhute 0:30537dec6e0b 164 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 165 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 166 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 167 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 168 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 169 offset += 4;
akashvibhute 0:30537dec6e0b 170 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 171 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 172 }
akashvibhute 0:30537dec6e0b 173 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 174 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 175 offset += length_status_message;
akashvibhute 0:30537dec6e0b 176 return offset;
akashvibhute 0:30537dec6e0b 177 }
akashvibhute 0:30537dec6e0b 178
akashvibhute 0:30537dec6e0b 179 const char * getType(){ return APPLYBODYWRENCH; };
akashvibhute 0:30537dec6e0b 180 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 181
akashvibhute 0:30537dec6e0b 182 };
akashvibhute 0:30537dec6e0b 183
akashvibhute 0:30537dec6e0b 184 class ApplyBodyWrench {
akashvibhute 0:30537dec6e0b 185 public:
akashvibhute 0:30537dec6e0b 186 typedef ApplyBodyWrenchRequest Request;
akashvibhute 0:30537dec6e0b 187 typedef ApplyBodyWrenchResponse Response;
akashvibhute 0:30537dec6e0b 188 };
akashvibhute 0:30537dec6e0b 189
akashvibhute 0:30537dec6e0b 190 }
akashvibhute 0:30537dec6e0b 191 #endif
akashvibhute 0:30537dec6e0b 192