rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
gazebo_msgs/SetLinkState.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?
User | Revision | Line number | New contents of line |
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akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_SERVICE_SetLinkState_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_SERVICE_SetLinkState_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 SETLINKSTATE[] = "gazebo_msgs/SetLinkState"; |
akashvibhute | 0:30537dec6e0b | 13 | |
akashvibhute | 0:30537dec6e0b | 14 | class SetLinkStateRequest : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 15 | { |
akashvibhute | 0:30537dec6e0b | 16 | public: |
akashvibhute | 0:30537dec6e0b | 17 | gazebo_msgs::LinkState link_state; |
akashvibhute | 0:30537dec6e0b | 18 | |
akashvibhute | 0:30537dec6e0b | 19 | SetLinkStateRequest(): |
akashvibhute | 0:30537dec6e0b | 20 | link_state() |
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 | offset += this->link_state.serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 28 | return offset; |
akashvibhute | 0:30537dec6e0b | 29 | } |
akashvibhute | 0:30537dec6e0b | 30 | |
akashvibhute | 0:30537dec6e0b | 31 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 32 | { |
akashvibhute | 0:30537dec6e0b | 33 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 34 | offset += this->link_state.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 35 | return offset; |
akashvibhute | 0:30537dec6e0b | 36 | } |
akashvibhute | 0:30537dec6e0b | 37 | |
akashvibhute | 0:30537dec6e0b | 38 | const char * getType(){ return SETLINKSTATE; }; |
akashvibhute | 0:30537dec6e0b | 39 | const char * getMD5(){ return "22a2c757d56911b6f27868159e9a872d"; }; |
akashvibhute | 0:30537dec6e0b | 40 | |
akashvibhute | 0:30537dec6e0b | 41 | }; |
akashvibhute | 0:30537dec6e0b | 42 | |
akashvibhute | 0:30537dec6e0b | 43 | class SetLinkStateResponse : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 44 | { |
akashvibhute | 0:30537dec6e0b | 45 | public: |
akashvibhute | 0:30537dec6e0b | 46 | bool success; |
akashvibhute | 0:30537dec6e0b | 47 | const char* status_message; |
akashvibhute | 0:30537dec6e0b | 48 | |
akashvibhute | 0:30537dec6e0b | 49 | SetLinkStateResponse(): |
akashvibhute | 0:30537dec6e0b | 50 | success(0), |
akashvibhute | 0:30537dec6e0b | 51 | status_message("") |
akashvibhute | 0:30537dec6e0b | 52 | { |
akashvibhute | 0:30537dec6e0b | 53 | } |
akashvibhute | 0:30537dec6e0b | 54 | |
akashvibhute | 0:30537dec6e0b | 55 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 56 | { |
akashvibhute | 0:30537dec6e0b | 57 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 58 | union { |
akashvibhute | 0:30537dec6e0b | 59 | bool real; |
akashvibhute | 0:30537dec6e0b | 60 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 61 | } u_success; |
akashvibhute | 0:30537dec6e0b | 62 | u_success.real = this->success; |
akashvibhute | 0:30537dec6e0b | 63 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 64 | offset += sizeof(this->success); |
akashvibhute | 0:30537dec6e0b | 65 | uint32_t length_status_message = strlen(this->status_message); |
akashvibhute | 0:30537dec6e0b | 66 | memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 67 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 68 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
akashvibhute | 0:30537dec6e0b | 69 | offset += length_status_message; |
akashvibhute | 0:30537dec6e0b | 70 | return offset; |
akashvibhute | 0:30537dec6e0b | 71 | } |
akashvibhute | 0:30537dec6e0b | 72 | |
akashvibhute | 0:30537dec6e0b | 73 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 74 | { |
akashvibhute | 0:30537dec6e0b | 75 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 76 | union { |
akashvibhute | 0:30537dec6e0b | 77 | bool real; |
akashvibhute | 0:30537dec6e0b | 78 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 79 | } u_success; |
akashvibhute | 0:30537dec6e0b | 80 | u_success.base = 0; |
akashvibhute | 0:30537dec6e0b | 81 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
akashvibhute | 0:30537dec6e0b | 82 | this->success = u_success.real; |
akashvibhute | 0:30537dec6e0b | 83 | offset += sizeof(this->success); |
akashvibhute | 0:30537dec6e0b | 84 | uint32_t length_status_message; |
akashvibhute | 0:30537dec6e0b | 85 | memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 86 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 87 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
akashvibhute | 0:30537dec6e0b | 88 | inbuffer[k-1]=inbuffer[k]; |
akashvibhute | 0:30537dec6e0b | 89 | } |
akashvibhute | 0:30537dec6e0b | 90 | inbuffer[offset+length_status_message-1]=0; |
akashvibhute | 0:30537dec6e0b | 91 | this->status_message = (char *)(inbuffer + offset-1); |
akashvibhute | 0:30537dec6e0b | 92 | offset += length_status_message; |
akashvibhute | 0:30537dec6e0b | 93 | return offset; |
akashvibhute | 0:30537dec6e0b | 94 | } |
akashvibhute | 0:30537dec6e0b | 95 | |
akashvibhute | 0:30537dec6e0b | 96 | const char * getType(){ return SETLINKSTATE; }; |
akashvibhute | 0:30537dec6e0b | 97 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
akashvibhute | 0:30537dec6e0b | 98 | |
akashvibhute | 0:30537dec6e0b | 99 | }; |
akashvibhute | 0:30537dec6e0b | 100 | |
akashvibhute | 0:30537dec6e0b | 101 | class SetLinkState { |
akashvibhute | 0:30537dec6e0b | 102 | public: |
akashvibhute | 0:30537dec6e0b | 103 | typedef SetLinkStateRequest Request; |
akashvibhute | 0:30537dec6e0b | 104 | typedef SetLinkStateResponse Response; |
akashvibhute | 0:30537dec6e0b | 105 | }; |
akashvibhute | 0:30537dec6e0b | 106 | |
akashvibhute | 0:30537dec6e0b | 107 | } |
akashvibhute | 0:30537dec6e0b | 108 | #endif |
akashvibhute | 0:30537dec6e0b | 109 |