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/GetLinkProperties.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_GetLinkProperties_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetLinkProperties_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 "geometry_msgs/Pose.h"
akashvibhute 0:30537dec6e0b 8
akashvibhute 0:30537dec6e0b 9 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 static const char GETLINKPROPERTIES[] = "gazebo_msgs/GetLinkProperties";
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class GetLinkPropertiesRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* link_name;
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 GetLinkPropertiesRequest():
akashvibhute 0:30537dec6e0b 20 link_name("")
akashvibhute 0:30537dec6e0b 21 {
akashvibhute 0:30537dec6e0b 22 }
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 int offset = 0;
akashvibhute 0:30537dec6e0b 27 uint32_t length_link_name = strlen(this->link_name);
akashvibhute 0:30537dec6e0b 28 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 29 offset += 4;
akashvibhute 0:30537dec6e0b 30 memcpy(outbuffer + offset, this->link_name, length_link_name);
akashvibhute 0:30537dec6e0b 31 offset += length_link_name;
akashvibhute 0:30537dec6e0b 32 return offset;
akashvibhute 0:30537dec6e0b 33 }
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 int offset = 0;
akashvibhute 0:30537dec6e0b 38 uint32_t length_link_name;
akashvibhute 0:30537dec6e0b 39 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 40 offset += 4;
akashvibhute 0:30537dec6e0b 41 for(unsigned int k= offset; k< offset+length_link_name; ++k){
akashvibhute 0:30537dec6e0b 42 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 43 }
akashvibhute 0:30537dec6e0b 44 inbuffer[offset+length_link_name-1]=0;
akashvibhute 0:30537dec6e0b 45 this->link_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 46 offset += length_link_name;
akashvibhute 0:30537dec6e0b 47 return offset;
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 const char * getType(){ return GETLINKPROPERTIES; };
akashvibhute 0:30537dec6e0b 51 const char * getMD5(){ return "7d82d60381f1b66a30f2157f60884345"; };
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 };
akashvibhute 0:30537dec6e0b 54
akashvibhute 0:30537dec6e0b 55 class GetLinkPropertiesResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 56 {
akashvibhute 0:30537dec6e0b 57 public:
akashvibhute 0:30537dec6e0b 58 geometry_msgs::Pose com;
akashvibhute 0:30537dec6e0b 59 bool gravity_mode;
akashvibhute 0:30537dec6e0b 60 float mass;
akashvibhute 0:30537dec6e0b 61 float ixx;
akashvibhute 0:30537dec6e0b 62 float ixy;
akashvibhute 0:30537dec6e0b 63 float ixz;
akashvibhute 0:30537dec6e0b 64 float iyy;
akashvibhute 0:30537dec6e0b 65 float iyz;
akashvibhute 0:30537dec6e0b 66 float izz;
akashvibhute 0:30537dec6e0b 67 bool success;
akashvibhute 0:30537dec6e0b 68 const char* status_message;
akashvibhute 0:30537dec6e0b 69
akashvibhute 0:30537dec6e0b 70 GetLinkPropertiesResponse():
akashvibhute 0:30537dec6e0b 71 com(),
akashvibhute 0:30537dec6e0b 72 gravity_mode(0),
akashvibhute 0:30537dec6e0b 73 mass(0),
akashvibhute 0:30537dec6e0b 74 ixx(0),
akashvibhute 0:30537dec6e0b 75 ixy(0),
akashvibhute 0:30537dec6e0b 76 ixz(0),
akashvibhute 0:30537dec6e0b 77 iyy(0),
akashvibhute 0:30537dec6e0b 78 iyz(0),
akashvibhute 0:30537dec6e0b 79 izz(0),
akashvibhute 0:30537dec6e0b 80 success(0),
akashvibhute 0:30537dec6e0b 81 status_message("")
akashvibhute 0:30537dec6e0b 82 {
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 86 {
akashvibhute 0:30537dec6e0b 87 int offset = 0;
akashvibhute 0:30537dec6e0b 88 offset += this->com.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 89 union {
akashvibhute 0:30537dec6e0b 90 bool real;
akashvibhute 0:30537dec6e0b 91 uint8_t base;
akashvibhute 0:30537dec6e0b 92 } u_gravity_mode;
akashvibhute 0:30537dec6e0b 93 u_gravity_mode.real = this->gravity_mode;
akashvibhute 0:30537dec6e0b 94 *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 95 offset += sizeof(this->gravity_mode);
akashvibhute 0:30537dec6e0b 96 offset += serializeAvrFloat64(outbuffer + offset, this->mass);
akashvibhute 0:30537dec6e0b 97 offset += serializeAvrFloat64(outbuffer + offset, this->ixx);
akashvibhute 0:30537dec6e0b 98 offset += serializeAvrFloat64(outbuffer + offset, this->ixy);
akashvibhute 0:30537dec6e0b 99 offset += serializeAvrFloat64(outbuffer + offset, this->ixz);
akashvibhute 0:30537dec6e0b 100 offset += serializeAvrFloat64(outbuffer + offset, this->iyy);
akashvibhute 0:30537dec6e0b 101 offset += serializeAvrFloat64(outbuffer + offset, this->iyz);
akashvibhute 0:30537dec6e0b 102 offset += serializeAvrFloat64(outbuffer + offset, this->izz);
akashvibhute 0:30537dec6e0b 103 union {
akashvibhute 0:30537dec6e0b 104 bool real;
akashvibhute 0:30537dec6e0b 105 uint8_t base;
akashvibhute 0:30537dec6e0b 106 } u_success;
akashvibhute 0:30537dec6e0b 107 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 109 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 110 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 111 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 112 offset += 4;
akashvibhute 0:30537dec6e0b 113 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 114 offset += length_status_message;
akashvibhute 0:30537dec6e0b 115 return offset;
akashvibhute 0:30537dec6e0b 116 }
akashvibhute 0:30537dec6e0b 117
akashvibhute 0:30537dec6e0b 118 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 119 {
akashvibhute 0:30537dec6e0b 120 int offset = 0;
akashvibhute 0:30537dec6e0b 121 offset += this->com.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 122 union {
akashvibhute 0:30537dec6e0b 123 bool real;
akashvibhute 0:30537dec6e0b 124 uint8_t base;
akashvibhute 0:30537dec6e0b 125 } u_gravity_mode;
akashvibhute 0:30537dec6e0b 126 u_gravity_mode.base = 0;
akashvibhute 0:30537dec6e0b 127 u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 128 this->gravity_mode = u_gravity_mode.real;
akashvibhute 0:30537dec6e0b 129 offset += sizeof(this->gravity_mode);
akashvibhute 0:30537dec6e0b 130 offset += deserializeAvrFloat64(inbuffer + offset, &(this->mass));
akashvibhute 0:30537dec6e0b 131 offset += deserializeAvrFloat64(inbuffer + offset, &(this->ixx));
akashvibhute 0:30537dec6e0b 132 offset += deserializeAvrFloat64(inbuffer + offset, &(this->ixy));
akashvibhute 0:30537dec6e0b 133 offset += deserializeAvrFloat64(inbuffer + offset, &(this->ixz));
akashvibhute 0:30537dec6e0b 134 offset += deserializeAvrFloat64(inbuffer + offset, &(this->iyy));
akashvibhute 0:30537dec6e0b 135 offset += deserializeAvrFloat64(inbuffer + offset, &(this->iyz));
akashvibhute 0:30537dec6e0b 136 offset += deserializeAvrFloat64(inbuffer + offset, &(this->izz));
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 GETLINKPROPERTIES; };
akashvibhute 0:30537dec6e0b 158 const char * getMD5(){ return "a8619f92d17cfcc3958c0fd13299443d"; };
akashvibhute 0:30537dec6e0b 159
akashvibhute 0:30537dec6e0b 160 };
akashvibhute 0:30537dec6e0b 161
akashvibhute 0:30537dec6e0b 162 class GetLinkProperties {
akashvibhute 0:30537dec6e0b 163 public:
akashvibhute 0:30537dec6e0b 164 typedef GetLinkPropertiesRequest Request;
akashvibhute 0:30537dec6e0b 165 typedef GetLinkPropertiesResponse Response;
akashvibhute 0:30537dec6e0b 166 };
akashvibhute 0:30537dec6e0b 167
akashvibhute 0:30537dec6e0b 168 }
akashvibhute 0:30537dec6e0b 169 #endif
akashvibhute 0:30537dec6e0b 170