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/GetJointProperties.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_GetJointProperties_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetJointProperties_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
akashvibhute 0:30537dec6e0b 8 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class GetJointPropertiesRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* joint_name;
akashvibhute 0:30537dec6e0b 17
akashvibhute 0:30537dec6e0b 18 GetJointPropertiesRequest():
akashvibhute 0:30537dec6e0b 19 joint_name("")
akashvibhute 0:30537dec6e0b 20 {
akashvibhute 0:30537dec6e0b 21 }
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 int offset = 0;
akashvibhute 0:30537dec6e0b 26 uint32_t length_joint_name = strlen(this->joint_name);
akashvibhute 0:30537dec6e0b 27 memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 28 offset += 4;
akashvibhute 0:30537dec6e0b 29 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
akashvibhute 0:30537dec6e0b 30 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 31 return offset;
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 uint32_t length_joint_name;
akashvibhute 0:30537dec6e0b 38 memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
akashvibhute 0:30537dec6e0b 41 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 inbuffer[offset+length_joint_name-1]=0;
akashvibhute 0:30537dec6e0b 44 this->joint_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 45 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 46 return offset;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 const char * getType(){ return GETJOINTPROPERTIES; };
akashvibhute 0:30537dec6e0b 50 const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 };
akashvibhute 0:30537dec6e0b 53
akashvibhute 0:30537dec6e0b 54 class GetJointPropertiesResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 public:
akashvibhute 0:30537dec6e0b 57 uint8_t type;
akashvibhute 0:30537dec6e0b 58 uint8_t damping_length;
akashvibhute 0:30537dec6e0b 59 float st_damping;
akashvibhute 0:30537dec6e0b 60 float * damping;
akashvibhute 0:30537dec6e0b 61 uint8_t position_length;
akashvibhute 0:30537dec6e0b 62 float st_position;
akashvibhute 0:30537dec6e0b 63 float * position;
akashvibhute 0:30537dec6e0b 64 uint8_t rate_length;
akashvibhute 0:30537dec6e0b 65 float st_rate;
akashvibhute 0:30537dec6e0b 66 float * rate;
akashvibhute 0:30537dec6e0b 67 bool success;
akashvibhute 0:30537dec6e0b 68 const char* status_message;
akashvibhute 0:30537dec6e0b 69 enum { REVOLUTE = 0 };
akashvibhute 0:30537dec6e0b 70 enum { CONTINUOUS = 1 };
akashvibhute 0:30537dec6e0b 71 enum { PRISMATIC = 2 };
akashvibhute 0:30537dec6e0b 72 enum { FIXED = 3 };
akashvibhute 0:30537dec6e0b 73 enum { BALL = 4 };
akashvibhute 0:30537dec6e0b 74 enum { UNIVERSAL = 5 };
akashvibhute 0:30537dec6e0b 75
akashvibhute 0:30537dec6e0b 76 GetJointPropertiesResponse():
akashvibhute 0:30537dec6e0b 77 type(0),
akashvibhute 0:30537dec6e0b 78 damping_length(0), damping(NULL),
akashvibhute 0:30537dec6e0b 79 position_length(0), position(NULL),
akashvibhute 0:30537dec6e0b 80 rate_length(0), rate(NULL),
akashvibhute 0:30537dec6e0b 81 success(0),
akashvibhute 0:30537dec6e0b 82 status_message("")
akashvibhute 0:30537dec6e0b 83 {
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 87 {
akashvibhute 0:30537dec6e0b 88 int offset = 0;
akashvibhute 0:30537dec6e0b 89 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 90 offset += sizeof(this->type);
akashvibhute 0:30537dec6e0b 91 *(outbuffer + offset++) = damping_length;
akashvibhute 0:30537dec6e0b 92 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 93 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 94 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 95 for( uint8_t i = 0; i < damping_length; i++){
akashvibhute 0:30537dec6e0b 96 offset += serializeAvrFloat64(outbuffer + offset, this->damping[i]);
akashvibhute 0:30537dec6e0b 97 }
akashvibhute 0:30537dec6e0b 98 *(outbuffer + offset++) = position_length;
akashvibhute 0:30537dec6e0b 99 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 100 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 101 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 102 for( uint8_t i = 0; i < position_length; i++){
akashvibhute 0:30537dec6e0b 103 offset += serializeAvrFloat64(outbuffer + offset, this->position[i]);
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105 *(outbuffer + offset++) = rate_length;
akashvibhute 0:30537dec6e0b 106 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 107 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 109 for( uint8_t i = 0; i < rate_length; i++){
akashvibhute 0:30537dec6e0b 110 offset += serializeAvrFloat64(outbuffer + offset, this->rate[i]);
akashvibhute 0:30537dec6e0b 111 }
akashvibhute 0:30537dec6e0b 112 union {
akashvibhute 0:30537dec6e0b 113 bool real;
akashvibhute 0:30537dec6e0b 114 uint8_t base;
akashvibhute 0:30537dec6e0b 115 } u_success;
akashvibhute 0:30537dec6e0b 116 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 117 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 118 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 119 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 120 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 121 offset += 4;
akashvibhute 0:30537dec6e0b 122 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 123 offset += length_status_message;
akashvibhute 0:30537dec6e0b 124 return offset;
akashvibhute 0:30537dec6e0b 125 }
akashvibhute 0:30537dec6e0b 126
akashvibhute 0:30537dec6e0b 127 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 128 {
akashvibhute 0:30537dec6e0b 129 int offset = 0;
akashvibhute 0:30537dec6e0b 130 this->type = ((uint8_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 131 offset += sizeof(this->type);
akashvibhute 0:30537dec6e0b 132 uint8_t damping_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 133 if(damping_lengthT > damping_length)
akashvibhute 0:30537dec6e0b 134 this->damping = (float*)realloc(this->damping, damping_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 135 offset += 3;
akashvibhute 0:30537dec6e0b 136 damping_length = damping_lengthT;
akashvibhute 0:30537dec6e0b 137 for( uint8_t i = 0; i < damping_length; i++){
akashvibhute 0:30537dec6e0b 138 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_damping));
akashvibhute 0:30537dec6e0b 139 memcpy( &(this->damping[i]), &(this->st_damping), sizeof(float));
akashvibhute 0:30537dec6e0b 140 }
akashvibhute 0:30537dec6e0b 141 uint8_t position_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 142 if(position_lengthT > position_length)
akashvibhute 0:30537dec6e0b 143 this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 144 offset += 3;
akashvibhute 0:30537dec6e0b 145 position_length = position_lengthT;
akashvibhute 0:30537dec6e0b 146 for( uint8_t i = 0; i < position_length; i++){
akashvibhute 0:30537dec6e0b 147 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_position));
akashvibhute 0:30537dec6e0b 148 memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
akashvibhute 0:30537dec6e0b 149 }
akashvibhute 0:30537dec6e0b 150 uint8_t rate_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 151 if(rate_lengthT > rate_length)
akashvibhute 0:30537dec6e0b 152 this->rate = (float*)realloc(this->rate, rate_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 153 offset += 3;
akashvibhute 0:30537dec6e0b 154 rate_length = rate_lengthT;
akashvibhute 0:30537dec6e0b 155 for( uint8_t i = 0; i < rate_length; i++){
akashvibhute 0:30537dec6e0b 156 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_rate));
akashvibhute 0:30537dec6e0b 157 memcpy( &(this->rate[i]), &(this->st_rate), sizeof(float));
akashvibhute 0:30537dec6e0b 158 }
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 GETJOINTPROPERTIES; };
akashvibhute 0:30537dec6e0b 180 const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
akashvibhute 0:30537dec6e0b 181
akashvibhute 0:30537dec6e0b 182 };
akashvibhute 0:30537dec6e0b 183
akashvibhute 0:30537dec6e0b 184 class GetJointProperties {
akashvibhute 0:30537dec6e0b 185 public:
akashvibhute 0:30537dec6e0b 186 typedef GetJointPropertiesRequest Request;
akashvibhute 0:30537dec6e0b 187 typedef GetJointPropertiesResponse Response;
akashvibhute 0:30537dec6e0b 188 };
akashvibhute 0:30537dec6e0b 189
akashvibhute 0:30537dec6e0b 190 }
akashvibhute 0:30537dec6e0b 191 #endif
akashvibhute 0:30537dec6e0b 192