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/ApplyJointEffort.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_ApplyJointEffort_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_ApplyJointEffort_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 "ros/time.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class ApplyJointEffortRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* joint_name;
akashvibhute 0:30537dec6e0b 19 float effort;
akashvibhute 0:30537dec6e0b 20 ros::Time start_time;
akashvibhute 0:30537dec6e0b 21 ros::Duration duration;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 ApplyJointEffortRequest():
akashvibhute 0:30537dec6e0b 24 joint_name(""),
akashvibhute 0:30537dec6e0b 25 effort(0),
akashvibhute 0:30537dec6e0b 26 start_time(),
akashvibhute 0:30537dec6e0b 27 duration()
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 }
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 uint32_t length_joint_name = strlen(this->joint_name);
akashvibhute 0:30537dec6e0b 35 memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 36 offset += 4;
akashvibhute 0:30537dec6e0b 37 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
akashvibhute 0:30537dec6e0b 38 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 39 offset += serializeAvrFloat64(outbuffer + offset, this->effort);
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 offset += sizeof(this->start_time.sec);
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 offset += sizeof(this->start_time.nsec);
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 offset += sizeof(this->duration.sec);
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 offset += sizeof(this->duration.nsec);
akashvibhute 0:30537dec6e0b 60 return offset;
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 64 {
akashvibhute 0:30537dec6e0b 65 int offset = 0;
akashvibhute 0:30537dec6e0b 66 uint32_t length_joint_name;
akashvibhute 0:30537dec6e0b 67 memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 68 offset += 4;
akashvibhute 0:30537dec6e0b 69 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
akashvibhute 0:30537dec6e0b 70 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 71 }
akashvibhute 0:30537dec6e0b 72 inbuffer[offset+length_joint_name-1]=0;
akashvibhute 0:30537dec6e0b 73 this->joint_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 74 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 75 offset += deserializeAvrFloat64(inbuffer + offset, &(this->effort));
akashvibhute 0:30537dec6e0b 76 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 77 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 78 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 79 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 80 offset += sizeof(this->start_time.sec);
akashvibhute 0:30537dec6e0b 81 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 82 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 83 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 84 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 85 offset += sizeof(this->start_time.nsec);
akashvibhute 0:30537dec6e0b 86 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 87 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 88 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 89 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 90 offset += sizeof(this->duration.sec);
akashvibhute 0:30537dec6e0b 91 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 92 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 93 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 94 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 95 offset += sizeof(this->duration.nsec);
akashvibhute 0:30537dec6e0b 96 return offset;
akashvibhute 0:30537dec6e0b 97 }
akashvibhute 0:30537dec6e0b 98
akashvibhute 0:30537dec6e0b 99 const char * getType(){ return APPLYJOINTEFFORT; };
akashvibhute 0:30537dec6e0b 100 const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };
akashvibhute 0:30537dec6e0b 101
akashvibhute 0:30537dec6e0b 102 };
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 class ApplyJointEffortResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 105 {
akashvibhute 0:30537dec6e0b 106 public:
akashvibhute 0:30537dec6e0b 107 bool success;
akashvibhute 0:30537dec6e0b 108 const char* status_message;
akashvibhute 0:30537dec6e0b 109
akashvibhute 0:30537dec6e0b 110 ApplyJointEffortResponse():
akashvibhute 0:30537dec6e0b 111 success(0),
akashvibhute 0:30537dec6e0b 112 status_message("")
akashvibhute 0:30537dec6e0b 113 {
akashvibhute 0:30537dec6e0b 114 }
akashvibhute 0:30537dec6e0b 115
akashvibhute 0:30537dec6e0b 116 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 117 {
akashvibhute 0:30537dec6e0b 118 int offset = 0;
akashvibhute 0:30537dec6e0b 119 union {
akashvibhute 0:30537dec6e0b 120 bool real;
akashvibhute 0:30537dec6e0b 121 uint8_t base;
akashvibhute 0:30537dec6e0b 122 } u_success;
akashvibhute 0:30537dec6e0b 123 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 124 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 125 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 126 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 127 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 128 offset += 4;
akashvibhute 0:30537dec6e0b 129 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 130 offset += length_status_message;
akashvibhute 0:30537dec6e0b 131 return offset;
akashvibhute 0:30537dec6e0b 132 }
akashvibhute 0:30537dec6e0b 133
akashvibhute 0:30537dec6e0b 134 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 135 {
akashvibhute 0:30537dec6e0b 136 int offset = 0;
akashvibhute 0:30537dec6e0b 137 union {
akashvibhute 0:30537dec6e0b 138 bool real;
akashvibhute 0:30537dec6e0b 139 uint8_t base;
akashvibhute 0:30537dec6e0b 140 } u_success;
akashvibhute 0:30537dec6e0b 141 u_success.base = 0;
akashvibhute 0:30537dec6e0b 142 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 143 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 144 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 145 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 146 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 147 offset += 4;
akashvibhute 0:30537dec6e0b 148 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 149 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 150 }
akashvibhute 0:30537dec6e0b 151 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 152 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 153 offset += length_status_message;
akashvibhute 0:30537dec6e0b 154 return offset;
akashvibhute 0:30537dec6e0b 155 }
akashvibhute 0:30537dec6e0b 156
akashvibhute 0:30537dec6e0b 157 const char * getType(){ return APPLYJOINTEFFORT; };
akashvibhute 0:30537dec6e0b 158 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 159
akashvibhute 0:30537dec6e0b 160 };
akashvibhute 0:30537dec6e0b 161
akashvibhute 0:30537dec6e0b 162 class ApplyJointEffort {
akashvibhute 0:30537dec6e0b 163 public:
akashvibhute 0:30537dec6e0b 164 typedef ApplyJointEffortRequest Request;
akashvibhute 0:30537dec6e0b 165 typedef ApplyJointEffortResponse Response;
akashvibhute 0:30537dec6e0b 166 };
akashvibhute 0:30537dec6e0b 167
akashvibhute 0:30537dec6e0b 168 }
akashvibhute 0:30537dec6e0b 169 #endif
akashvibhute 0:30537dec6e0b 170