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/GetLinkState.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_GetLinkState_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetLinkState_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 "gazebo_msgs/LinkState.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 GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class GetLinkStateRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* link_name;
akashvibhute 0:30537dec6e0b 18 const char* reference_frame;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 GetLinkStateRequest():
akashvibhute 0:30537dec6e0b 21 link_name(""),
akashvibhute 0:30537dec6e0b 22 reference_frame("")
akashvibhute 0:30537dec6e0b 23 {
akashvibhute 0:30537dec6e0b 24 }
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 int offset = 0;
akashvibhute 0:30537dec6e0b 29 uint32_t length_link_name = strlen(this->link_name);
akashvibhute 0:30537dec6e0b 30 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 31 offset += 4;
akashvibhute 0:30537dec6e0b 32 memcpy(outbuffer + offset, this->link_name, length_link_name);
akashvibhute 0:30537dec6e0b 33 offset += length_link_name;
akashvibhute 0:30537dec6e0b 34 uint32_t length_reference_frame = strlen(this->reference_frame);
akashvibhute 0:30537dec6e0b 35 memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 36 offset += 4;
akashvibhute 0:30537dec6e0b 37 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
akashvibhute 0:30537dec6e0b 38 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 39 return offset;
akashvibhute 0:30537dec6e0b 40 }
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 int offset = 0;
akashvibhute 0:30537dec6e0b 45 uint32_t length_link_name;
akashvibhute 0:30537dec6e0b 46 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 for(unsigned int k= offset; k< offset+length_link_name; ++k){
akashvibhute 0:30537dec6e0b 49 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 50 }
akashvibhute 0:30537dec6e0b 51 inbuffer[offset+length_link_name-1]=0;
akashvibhute 0:30537dec6e0b 52 this->link_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 53 offset += length_link_name;
akashvibhute 0:30537dec6e0b 54 uint32_t length_reference_frame;
akashvibhute 0:30537dec6e0b 55 memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 56 offset += 4;
akashvibhute 0:30537dec6e0b 57 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
akashvibhute 0:30537dec6e0b 58 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 59 }
akashvibhute 0:30537dec6e0b 60 inbuffer[offset+length_reference_frame-1]=0;
akashvibhute 0:30537dec6e0b 61 this->reference_frame = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 62 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 63 return offset;
akashvibhute 0:30537dec6e0b 64 }
akashvibhute 0:30537dec6e0b 65
akashvibhute 0:30537dec6e0b 66 const char * getType(){ return GETLINKSTATE; };
akashvibhute 0:30537dec6e0b 67 const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
akashvibhute 0:30537dec6e0b 68
akashvibhute 0:30537dec6e0b 69 };
akashvibhute 0:30537dec6e0b 70
akashvibhute 0:30537dec6e0b 71 class GetLinkStateResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 72 {
akashvibhute 0:30537dec6e0b 73 public:
akashvibhute 0:30537dec6e0b 74 gazebo_msgs::LinkState link_state;
akashvibhute 0:30537dec6e0b 75 bool success;
akashvibhute 0:30537dec6e0b 76 const char* status_message;
akashvibhute 0:30537dec6e0b 77
akashvibhute 0:30537dec6e0b 78 GetLinkStateResponse():
akashvibhute 0:30537dec6e0b 79 link_state(),
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->link_state.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_success;
akashvibhute 0:30537dec6e0b 93 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 94 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 95 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 96 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 97 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 98 offset += 4;
akashvibhute 0:30537dec6e0b 99 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 100 offset += length_status_message;
akashvibhute 0:30537dec6e0b 101 return offset;
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 105 {
akashvibhute 0:30537dec6e0b 106 int offset = 0;
akashvibhute 0:30537dec6e0b 107 offset += this->link_state.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 108 union {
akashvibhute 0:30537dec6e0b 109 bool real;
akashvibhute 0:30537dec6e0b 110 uint8_t base;
akashvibhute 0:30537dec6e0b 111 } u_success;
akashvibhute 0:30537dec6e0b 112 u_success.base = 0;
akashvibhute 0:30537dec6e0b 113 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 114 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 115 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 116 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 117 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 118 offset += 4;
akashvibhute 0:30537dec6e0b 119 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 120 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 121 }
akashvibhute 0:30537dec6e0b 122 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 123 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 124 offset += length_status_message;
akashvibhute 0:30537dec6e0b 125 return offset;
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127
akashvibhute 0:30537dec6e0b 128 const char * getType(){ return GETLINKSTATE; };
akashvibhute 0:30537dec6e0b 129 const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
akashvibhute 0:30537dec6e0b 130
akashvibhute 0:30537dec6e0b 131 };
akashvibhute 0:30537dec6e0b 132
akashvibhute 0:30537dec6e0b 133 class GetLinkState {
akashvibhute 0:30537dec6e0b 134 public:
akashvibhute 0:30537dec6e0b 135 typedef GetLinkStateRequest Request;
akashvibhute 0:30537dec6e0b 136 typedef GetLinkStateResponse Response;
akashvibhute 0:30537dec6e0b 137 };
akashvibhute 0:30537dec6e0b 138
akashvibhute 0:30537dec6e0b 139 }
akashvibhute 0:30537dec6e0b 140 #endif
akashvibhute 0:30537dec6e0b 141