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/SetJointTrajectory.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_SetJointTrajectory_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SetJointTrajectory_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 "trajectory_msgs/JointTrajectory.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/Pose.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 SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory";
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class SetJointTrajectoryRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* model_name;
akashvibhute 0:30537dec6e0b 19 trajectory_msgs::JointTrajectory joint_trajectory;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::Pose model_pose;
akashvibhute 0:30537dec6e0b 21 bool set_model_pose;
akashvibhute 0:30537dec6e0b 22 bool disable_physics_updates;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 SetJointTrajectoryRequest():
akashvibhute 0:30537dec6e0b 25 model_name(""),
akashvibhute 0:30537dec6e0b 26 joint_trajectory(),
akashvibhute 0:30537dec6e0b 27 model_pose(),
akashvibhute 0:30537dec6e0b 28 set_model_pose(0),
akashvibhute 0:30537dec6e0b 29 disable_physics_updates(0)
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 uint32_t length_model_name = strlen(this->model_name);
akashvibhute 0:30537dec6e0b 37 memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 38 offset += 4;
akashvibhute 0:30537dec6e0b 39 memcpy(outbuffer + offset, this->model_name, length_model_name);
akashvibhute 0:30537dec6e0b 40 offset += length_model_name;
akashvibhute 0:30537dec6e0b 41 offset += this->joint_trajectory.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 42 offset += this->model_pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 43 union {
akashvibhute 0:30537dec6e0b 44 bool real;
akashvibhute 0:30537dec6e0b 45 uint8_t base;
akashvibhute 0:30537dec6e0b 46 } u_set_model_pose;
akashvibhute 0:30537dec6e0b 47 u_set_model_pose.real = this->set_model_pose;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 offset += sizeof(this->set_model_pose);
akashvibhute 0:30537dec6e0b 50 union {
akashvibhute 0:30537dec6e0b 51 bool real;
akashvibhute 0:30537dec6e0b 52 uint8_t base;
akashvibhute 0:30537dec6e0b 53 } u_disable_physics_updates;
akashvibhute 0:30537dec6e0b 54 u_disable_physics_updates.real = this->disable_physics_updates;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 offset += sizeof(this->disable_physics_updates);
akashvibhute 0:30537dec6e0b 57 return offset;
akashvibhute 0:30537dec6e0b 58 }
akashvibhute 0:30537dec6e0b 59
akashvibhute 0:30537dec6e0b 60 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 61 {
akashvibhute 0:30537dec6e0b 62 int offset = 0;
akashvibhute 0:30537dec6e0b 63 uint32_t length_model_name;
akashvibhute 0:30537dec6e0b 64 memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 65 offset += 4;
akashvibhute 0:30537dec6e0b 66 for(unsigned int k= offset; k< offset+length_model_name; ++k){
akashvibhute 0:30537dec6e0b 67 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 inbuffer[offset+length_model_name-1]=0;
akashvibhute 0:30537dec6e0b 70 this->model_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 71 offset += length_model_name;
akashvibhute 0:30537dec6e0b 72 offset += this->joint_trajectory.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 73 offset += this->model_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 74 union {
akashvibhute 0:30537dec6e0b 75 bool real;
akashvibhute 0:30537dec6e0b 76 uint8_t base;
akashvibhute 0:30537dec6e0b 77 } u_set_model_pose;
akashvibhute 0:30537dec6e0b 78 u_set_model_pose.base = 0;
akashvibhute 0:30537dec6e0b 79 u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 80 this->set_model_pose = u_set_model_pose.real;
akashvibhute 0:30537dec6e0b 81 offset += sizeof(this->set_model_pose);
akashvibhute 0:30537dec6e0b 82 union {
akashvibhute 0:30537dec6e0b 83 bool real;
akashvibhute 0:30537dec6e0b 84 uint8_t base;
akashvibhute 0:30537dec6e0b 85 } u_disable_physics_updates;
akashvibhute 0:30537dec6e0b 86 u_disable_physics_updates.base = 0;
akashvibhute 0:30537dec6e0b 87 u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 88 this->disable_physics_updates = u_disable_physics_updates.real;
akashvibhute 0:30537dec6e0b 89 offset += sizeof(this->disable_physics_updates);
akashvibhute 0:30537dec6e0b 90 return offset;
akashvibhute 0:30537dec6e0b 91 }
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 const char * getType(){ return SETJOINTTRAJECTORY; };
akashvibhute 0:30537dec6e0b 94 const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; };
akashvibhute 0:30537dec6e0b 95
akashvibhute 0:30537dec6e0b 96 };
akashvibhute 0:30537dec6e0b 97
akashvibhute 0:30537dec6e0b 98 class SetJointTrajectoryResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 99 {
akashvibhute 0:30537dec6e0b 100 public:
akashvibhute 0:30537dec6e0b 101 bool success;
akashvibhute 0:30537dec6e0b 102 const char* status_message;
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 SetJointTrajectoryResponse():
akashvibhute 0:30537dec6e0b 105 success(0),
akashvibhute 0:30537dec6e0b 106 status_message("")
akashvibhute 0:30537dec6e0b 107 {
akashvibhute 0:30537dec6e0b 108 }
akashvibhute 0:30537dec6e0b 109
akashvibhute 0:30537dec6e0b 110 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 111 {
akashvibhute 0:30537dec6e0b 112 int offset = 0;
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.real = this->success;
akashvibhute 0:30537dec6e0b 118 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 119 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 120 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 121 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 122 offset += 4;
akashvibhute 0:30537dec6e0b 123 memcpy(outbuffer + offset, this->status_message, length_status_message);
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 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 129 {
akashvibhute 0:30537dec6e0b 130 int offset = 0;
akashvibhute 0:30537dec6e0b 131 union {
akashvibhute 0:30537dec6e0b 132 bool real;
akashvibhute 0:30537dec6e0b 133 uint8_t base;
akashvibhute 0:30537dec6e0b 134 } u_success;
akashvibhute 0:30537dec6e0b 135 u_success.base = 0;
akashvibhute 0:30537dec6e0b 136 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 137 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 138 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 139 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 140 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 141 offset += 4;
akashvibhute 0:30537dec6e0b 142 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 143 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 144 }
akashvibhute 0:30537dec6e0b 145 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 146 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 147 offset += length_status_message;
akashvibhute 0:30537dec6e0b 148 return offset;
akashvibhute 0:30537dec6e0b 149 }
akashvibhute 0:30537dec6e0b 150
akashvibhute 0:30537dec6e0b 151 const char * getType(){ return SETJOINTTRAJECTORY; };
akashvibhute 0:30537dec6e0b 152 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 153
akashvibhute 0:30537dec6e0b 154 };
akashvibhute 0:30537dec6e0b 155
akashvibhute 0:30537dec6e0b 156 class SetJointTrajectory {
akashvibhute 0:30537dec6e0b 157 public:
akashvibhute 0:30537dec6e0b 158 typedef SetJointTrajectoryRequest Request;
akashvibhute 0:30537dec6e0b 159 typedef SetJointTrajectoryResponse Response;
akashvibhute 0:30537dec6e0b 160 };
akashvibhute 0:30537dec6e0b 161
akashvibhute 0:30537dec6e0b 162 }
akashvibhute 0:30537dec6e0b 163 #endif
akashvibhute 0:30537dec6e0b 164