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/GetModelState.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_GetModelState_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetModelState_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 #include "geometry_msgs/Twist.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 GETMODELSTATE[] = "gazebo_msgs/GetModelState";
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class GetModelStateRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* model_name;
akashvibhute 0:30537dec6e0b 19 const char* relative_entity_name;
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 GetModelStateRequest():
akashvibhute 0:30537dec6e0b 22 model_name(""),
akashvibhute 0:30537dec6e0b 23 relative_entity_name("")
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 }
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 int offset = 0;
akashvibhute 0:30537dec6e0b 30 uint32_t length_model_name = strlen(this->model_name);
akashvibhute 0:30537dec6e0b 31 memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 32 offset += 4;
akashvibhute 0:30537dec6e0b 33 memcpy(outbuffer + offset, this->model_name, length_model_name);
akashvibhute 0:30537dec6e0b 34 offset += length_model_name;
akashvibhute 0:30537dec6e0b 35 uint32_t length_relative_entity_name = strlen(this->relative_entity_name);
akashvibhute 0:30537dec6e0b 36 memcpy(outbuffer + offset, &length_relative_entity_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 37 offset += 4;
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name);
akashvibhute 0:30537dec6e0b 39 offset += length_relative_entity_name;
akashvibhute 0:30537dec6e0b 40 return offset;
akashvibhute 0:30537dec6e0b 41 }
akashvibhute 0:30537dec6e0b 42
akashvibhute 0:30537dec6e0b 43 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 44 {
akashvibhute 0:30537dec6e0b 45 int offset = 0;
akashvibhute 0:30537dec6e0b 46 uint32_t length_model_name;
akashvibhute 0:30537dec6e0b 47 memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 48 offset += 4;
akashvibhute 0:30537dec6e0b 49 for(unsigned int k= offset; k< offset+length_model_name; ++k){
akashvibhute 0:30537dec6e0b 50 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52 inbuffer[offset+length_model_name-1]=0;
akashvibhute 0:30537dec6e0b 53 this->model_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 54 offset += length_model_name;
akashvibhute 0:30537dec6e0b 55 uint32_t length_relative_entity_name;
akashvibhute 0:30537dec6e0b 56 memcpy(&length_relative_entity_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 57 offset += 4;
akashvibhute 0:30537dec6e0b 58 for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){
akashvibhute 0:30537dec6e0b 59 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61 inbuffer[offset+length_relative_entity_name-1]=0;
akashvibhute 0:30537dec6e0b 62 this->relative_entity_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 63 offset += length_relative_entity_name;
akashvibhute 0:30537dec6e0b 64 return offset;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 const char * getType(){ return GETMODELSTATE; };
akashvibhute 0:30537dec6e0b 68 const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; };
akashvibhute 0:30537dec6e0b 69
akashvibhute 0:30537dec6e0b 70 };
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 class GetModelStateResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 73 {
akashvibhute 0:30537dec6e0b 74 public:
akashvibhute 0:30537dec6e0b 75 geometry_msgs::Pose pose;
akashvibhute 0:30537dec6e0b 76 geometry_msgs::Twist twist;
akashvibhute 0:30537dec6e0b 77 bool success;
akashvibhute 0:30537dec6e0b 78 const char* status_message;
akashvibhute 0:30537dec6e0b 79
akashvibhute 0:30537dec6e0b 80 GetModelStateResponse():
akashvibhute 0:30537dec6e0b 81 pose(),
akashvibhute 0:30537dec6e0b 82 twist(),
akashvibhute 0:30537dec6e0b 83 success(0),
akashvibhute 0:30537dec6e0b 84 status_message("")
akashvibhute 0:30537dec6e0b 85 {
akashvibhute 0:30537dec6e0b 86 }
akashvibhute 0:30537dec6e0b 87
akashvibhute 0:30537dec6e0b 88 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 89 {
akashvibhute 0:30537dec6e0b 90 int offset = 0;
akashvibhute 0:30537dec6e0b 91 offset += this->pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 92 offset += this->twist.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 93 union {
akashvibhute 0:30537dec6e0b 94 bool real;
akashvibhute 0:30537dec6e0b 95 uint8_t base;
akashvibhute 0:30537dec6e0b 96 } u_success;
akashvibhute 0:30537dec6e0b 97 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 98 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 99 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 100 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 101 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 102 offset += 4;
akashvibhute 0:30537dec6e0b 103 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 104 offset += length_status_message;
akashvibhute 0:30537dec6e0b 105 return offset;
akashvibhute 0:30537dec6e0b 106 }
akashvibhute 0:30537dec6e0b 107
akashvibhute 0:30537dec6e0b 108 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 109 {
akashvibhute 0:30537dec6e0b 110 int offset = 0;
akashvibhute 0:30537dec6e0b 111 offset += this->pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 112 offset += this->twist.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 113 union {
akashvibhute 0:30537dec6e0b 114 bool real;
akashvibhute 0:30537dec6e0b 115 uint8_t base;
akashvibhute 0:30537dec6e0b 116 } u_success;
akashvibhute 0:30537dec6e0b 117 u_success.base = 0;
akashvibhute 0:30537dec6e0b 118 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 119 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 120 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 121 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 122 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 123 offset += 4;
akashvibhute 0:30537dec6e0b 124 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 125 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 128 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 129 offset += length_status_message;
akashvibhute 0:30537dec6e0b 130 return offset;
akashvibhute 0:30537dec6e0b 131 }
akashvibhute 0:30537dec6e0b 132
akashvibhute 0:30537dec6e0b 133 const char * getType(){ return GETMODELSTATE; };
akashvibhute 0:30537dec6e0b 134 const char * getMD5(){ return "1f8f991dc94e0cb27fe61383e0f576bb"; };
akashvibhute 0:30537dec6e0b 135
akashvibhute 0:30537dec6e0b 136 };
akashvibhute 0:30537dec6e0b 137
akashvibhute 0:30537dec6e0b 138 class GetModelState {
akashvibhute 0:30537dec6e0b 139 public:
akashvibhute 0:30537dec6e0b 140 typedef GetModelStateRequest Request;
akashvibhute 0:30537dec6e0b 141 typedef GetModelStateResponse Response;
akashvibhute 0:30537dec6e0b 142 };
akashvibhute 0:30537dec6e0b 143
akashvibhute 0:30537dec6e0b 144 }
akashvibhute 0:30537dec6e0b 145 #endif
akashvibhute 0:30537dec6e0b 146