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/GetWorldProperties.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_GetWorldProperties_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetWorldProperties_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 GETWORLDPROPERTIES[] = "gazebo_msgs/GetWorldProperties";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class GetWorldPropertiesRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 GetWorldPropertiesRequest()
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 }
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 int offset = 0;
akashvibhute 0:30537dec6e0b 24 return offset;
akashvibhute 0:30537dec6e0b 25 }
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 int offset = 0;
akashvibhute 0:30537dec6e0b 30 return offset;
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 const char * getType(){ return GETWORLDPROPERTIES; };
akashvibhute 0:30537dec6e0b 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
akashvibhute 0:30537dec6e0b 35
akashvibhute 0:30537dec6e0b 36 };
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 class GetWorldPropertiesResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 public:
akashvibhute 0:30537dec6e0b 41 float sim_time;
akashvibhute 0:30537dec6e0b 42 uint8_t model_names_length;
akashvibhute 0:30537dec6e0b 43 char* st_model_names;
akashvibhute 0:30537dec6e0b 44 char* * model_names;
akashvibhute 0:30537dec6e0b 45 bool rendering_enabled;
akashvibhute 0:30537dec6e0b 46 bool success;
akashvibhute 0:30537dec6e0b 47 const char* status_message;
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 GetWorldPropertiesResponse():
akashvibhute 0:30537dec6e0b 50 sim_time(0),
akashvibhute 0:30537dec6e0b 51 model_names_length(0), model_names(NULL),
akashvibhute 0:30537dec6e0b 52 rendering_enabled(0),
akashvibhute 0:30537dec6e0b 53 success(0),
akashvibhute 0:30537dec6e0b 54 status_message("")
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 59 {
akashvibhute 0:30537dec6e0b 60 int offset = 0;
akashvibhute 0:30537dec6e0b 61 offset += serializeAvrFloat64(outbuffer + offset, this->sim_time);
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset++) = model_names_length;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 66 for( uint8_t i = 0; i < model_names_length; i++){
akashvibhute 0:30537dec6e0b 67 uint32_t length_model_namesi = strlen(this->model_names[i]);
akashvibhute 0:30537dec6e0b 68 memcpy(outbuffer + offset, &length_model_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 69 offset += 4;
akashvibhute 0:30537dec6e0b 70 memcpy(outbuffer + offset, this->model_names[i], length_model_namesi);
akashvibhute 0:30537dec6e0b 71 offset += length_model_namesi;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73 union {
akashvibhute 0:30537dec6e0b 74 bool real;
akashvibhute 0:30537dec6e0b 75 uint8_t base;
akashvibhute 0:30537dec6e0b 76 } u_rendering_enabled;
akashvibhute 0:30537dec6e0b 77 u_rendering_enabled.real = this->rendering_enabled;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset + 0) = (u_rendering_enabled.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 79 offset += sizeof(this->rendering_enabled);
akashvibhute 0:30537dec6e0b 80 union {
akashvibhute 0:30537dec6e0b 81 bool real;
akashvibhute 0:30537dec6e0b 82 uint8_t base;
akashvibhute 0:30537dec6e0b 83 } u_success;
akashvibhute 0:30537dec6e0b 84 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 85 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 86 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 87 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 88 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 89 offset += 4;
akashvibhute 0:30537dec6e0b 90 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 91 offset += length_status_message;
akashvibhute 0:30537dec6e0b 92 return offset;
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 96 {
akashvibhute 0:30537dec6e0b 97 int offset = 0;
akashvibhute 0:30537dec6e0b 98 offset += deserializeAvrFloat64(inbuffer + offset, &(this->sim_time));
akashvibhute 0:30537dec6e0b 99 uint8_t model_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 100 if(model_names_lengthT > model_names_length)
akashvibhute 0:30537dec6e0b 101 this->model_names = (char**)realloc(this->model_names, model_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 102 offset += 3;
akashvibhute 0:30537dec6e0b 103 model_names_length = model_names_lengthT;
akashvibhute 0:30537dec6e0b 104 for( uint8_t i = 0; i < model_names_length; i++){
akashvibhute 0:30537dec6e0b 105 uint32_t length_st_model_names;
akashvibhute 0:30537dec6e0b 106 memcpy(&length_st_model_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 107 offset += 4;
akashvibhute 0:30537dec6e0b 108 for(unsigned int k= offset; k< offset+length_st_model_names; ++k){
akashvibhute 0:30537dec6e0b 109 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 110 }
akashvibhute 0:30537dec6e0b 111 inbuffer[offset+length_st_model_names-1]=0;
akashvibhute 0:30537dec6e0b 112 this->st_model_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 113 offset += length_st_model_names;
akashvibhute 0:30537dec6e0b 114 memcpy( &(this->model_names[i]), &(this->st_model_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116 union {
akashvibhute 0:30537dec6e0b 117 bool real;
akashvibhute 0:30537dec6e0b 118 uint8_t base;
akashvibhute 0:30537dec6e0b 119 } u_rendering_enabled;
akashvibhute 0:30537dec6e0b 120 u_rendering_enabled.base = 0;
akashvibhute 0:30537dec6e0b 121 u_rendering_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 122 this->rendering_enabled = u_rendering_enabled.real;
akashvibhute 0:30537dec6e0b 123 offset += sizeof(this->rendering_enabled);
akashvibhute 0:30537dec6e0b 124 union {
akashvibhute 0:30537dec6e0b 125 bool real;
akashvibhute 0:30537dec6e0b 126 uint8_t base;
akashvibhute 0:30537dec6e0b 127 } u_success;
akashvibhute 0:30537dec6e0b 128 u_success.base = 0;
akashvibhute 0:30537dec6e0b 129 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 130 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 131 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 132 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 133 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 134 offset += 4;
akashvibhute 0:30537dec6e0b 135 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 136 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 139 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 140 offset += length_status_message;
akashvibhute 0:30537dec6e0b 141 return offset;
akashvibhute 0:30537dec6e0b 142 }
akashvibhute 0:30537dec6e0b 143
akashvibhute 0:30537dec6e0b 144 const char * getType(){ return GETWORLDPROPERTIES; };
akashvibhute 0:30537dec6e0b 145 const char * getMD5(){ return "36bb0f2eccf4d8be971410c22818ba3f"; };
akashvibhute 0:30537dec6e0b 146
akashvibhute 0:30537dec6e0b 147 };
akashvibhute 0:30537dec6e0b 148
akashvibhute 0:30537dec6e0b 149 class GetWorldProperties {
akashvibhute 0:30537dec6e0b 150 public:
akashvibhute 0:30537dec6e0b 151 typedef GetWorldPropertiesRequest Request;
akashvibhute 0:30537dec6e0b 152 typedef GetWorldPropertiesResponse Response;
akashvibhute 0:30537dec6e0b 153 };
akashvibhute 0:30537dec6e0b 154
akashvibhute 0:30537dec6e0b 155 }
akashvibhute 0:30537dec6e0b 156 #endif
akashvibhute 0:30537dec6e0b 157