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/SetModelConfiguration.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_SetModelConfiguration_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SetModelConfiguration_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 SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class SetModelConfigurationRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* model_name;
akashvibhute 0:30537dec6e0b 17 const char* urdf_param_name;
akashvibhute 0:30537dec6e0b 18 uint8_t joint_names_length;
akashvibhute 0:30537dec6e0b 19 char* st_joint_names;
akashvibhute 0:30537dec6e0b 20 char* * joint_names;
akashvibhute 0:30537dec6e0b 21 uint8_t joint_positions_length;
akashvibhute 0:30537dec6e0b 22 float st_joint_positions;
akashvibhute 0:30537dec6e0b 23 float * joint_positions;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 SetModelConfigurationRequest():
akashvibhute 0:30537dec6e0b 26 model_name(""),
akashvibhute 0:30537dec6e0b 27 urdf_param_name(""),
akashvibhute 0:30537dec6e0b 28 joint_names_length(0), joint_names(NULL),
akashvibhute 0:30537dec6e0b 29 joint_positions_length(0), joint_positions(NULL)
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 uint32_t length_urdf_param_name = strlen(this->urdf_param_name);
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, &length_urdf_param_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 43 offset += 4;
akashvibhute 0:30537dec6e0b 44 memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name);
akashvibhute 0:30537dec6e0b 45 offset += length_urdf_param_name;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = joint_names_length;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 for( uint8_t i = 0; i < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 51 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 53 offset += 4;
akashvibhute 0:30537dec6e0b 54 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
akashvibhute 0:30537dec6e0b 55 offset += length_joint_namesi;
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = joint_positions_length;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 61 for( uint8_t i = 0; i < joint_positions_length; i++){
akashvibhute 0:30537dec6e0b 62 offset += serializeAvrFloat64(outbuffer + offset, this->joint_positions[i]);
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 return offset;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 68 {
akashvibhute 0:30537dec6e0b 69 int offset = 0;
akashvibhute 0:30537dec6e0b 70 uint32_t length_model_name;
akashvibhute 0:30537dec6e0b 71 memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 72 offset += 4;
akashvibhute 0:30537dec6e0b 73 for(unsigned int k= offset; k< offset+length_model_name; ++k){
akashvibhute 0:30537dec6e0b 74 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76 inbuffer[offset+length_model_name-1]=0;
akashvibhute 0:30537dec6e0b 77 this->model_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 78 offset += length_model_name;
akashvibhute 0:30537dec6e0b 79 uint32_t length_urdf_param_name;
akashvibhute 0:30537dec6e0b 80 memcpy(&length_urdf_param_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 81 offset += 4;
akashvibhute 0:30537dec6e0b 82 for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){
akashvibhute 0:30537dec6e0b 83 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 inbuffer[offset+length_urdf_param_name-1]=0;
akashvibhute 0:30537dec6e0b 86 this->urdf_param_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 87 offset += length_urdf_param_name;
akashvibhute 0:30537dec6e0b 88 uint8_t joint_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 89 if(joint_names_lengthT > joint_names_length)
akashvibhute 0:30537dec6e0b 90 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 91 offset += 3;
akashvibhute 0:30537dec6e0b 92 joint_names_length = joint_names_lengthT;
akashvibhute 0:30537dec6e0b 93 for( uint8_t i = 0; i < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 94 uint32_t length_st_joint_names;
akashvibhute 0:30537dec6e0b 95 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 96 offset += 4;
akashvibhute 0:30537dec6e0b 97 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
akashvibhute 0:30537dec6e0b 98 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 99 }
akashvibhute 0:30537dec6e0b 100 inbuffer[offset+length_st_joint_names-1]=0;
akashvibhute 0:30537dec6e0b 101 this->st_joint_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 102 offset += length_st_joint_names;
akashvibhute 0:30537dec6e0b 103 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105 uint8_t joint_positions_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 106 if(joint_positions_lengthT > joint_positions_length)
akashvibhute 0:30537dec6e0b 107 this->joint_positions = (float*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 108 offset += 3;
akashvibhute 0:30537dec6e0b 109 joint_positions_length = joint_positions_lengthT;
akashvibhute 0:30537dec6e0b 110 for( uint8_t i = 0; i < joint_positions_length; i++){
akashvibhute 0:30537dec6e0b 111 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_joint_positions));
akashvibhute 0:30537dec6e0b 112 memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(float));
akashvibhute 0:30537dec6e0b 113 }
akashvibhute 0:30537dec6e0b 114 return offset;
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116
akashvibhute 0:30537dec6e0b 117 const char * getType(){ return SETMODELCONFIGURATION; };
akashvibhute 0:30537dec6e0b 118 const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; };
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 };
akashvibhute 0:30537dec6e0b 121
akashvibhute 0:30537dec6e0b 122 class SetModelConfigurationResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 123 {
akashvibhute 0:30537dec6e0b 124 public:
akashvibhute 0:30537dec6e0b 125 bool success;
akashvibhute 0:30537dec6e0b 126 const char* status_message;
akashvibhute 0:30537dec6e0b 127
akashvibhute 0:30537dec6e0b 128 SetModelConfigurationResponse():
akashvibhute 0:30537dec6e0b 129 success(0),
akashvibhute 0:30537dec6e0b 130 status_message("")
akashvibhute 0:30537dec6e0b 131 {
akashvibhute 0:30537dec6e0b 132 }
akashvibhute 0:30537dec6e0b 133
akashvibhute 0:30537dec6e0b 134 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 135 {
akashvibhute 0:30537dec6e0b 136 int offset = 0;
akashvibhute 0:30537dec6e0b 137 union {
akashvibhute 0:30537dec6e0b 138 bool real;
akashvibhute 0:30537dec6e0b 139 uint8_t base;
akashvibhute 0:30537dec6e0b 140 } u_success;
akashvibhute 0:30537dec6e0b 141 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 142 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 143 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 144 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 145 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 146 offset += 4;
akashvibhute 0:30537dec6e0b 147 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 148 offset += length_status_message;
akashvibhute 0:30537dec6e0b 149 return offset;
akashvibhute 0:30537dec6e0b 150 }
akashvibhute 0:30537dec6e0b 151
akashvibhute 0:30537dec6e0b 152 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 153 {
akashvibhute 0:30537dec6e0b 154 int offset = 0;
akashvibhute 0:30537dec6e0b 155 union {
akashvibhute 0:30537dec6e0b 156 bool real;
akashvibhute 0:30537dec6e0b 157 uint8_t base;
akashvibhute 0:30537dec6e0b 158 } u_success;
akashvibhute 0:30537dec6e0b 159 u_success.base = 0;
akashvibhute 0:30537dec6e0b 160 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 161 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 162 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 163 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 164 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 165 offset += 4;
akashvibhute 0:30537dec6e0b 166 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 167 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 168 }
akashvibhute 0:30537dec6e0b 169 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 170 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 171 offset += length_status_message;
akashvibhute 0:30537dec6e0b 172 return offset;
akashvibhute 0:30537dec6e0b 173 }
akashvibhute 0:30537dec6e0b 174
akashvibhute 0:30537dec6e0b 175 const char * getType(){ return SETMODELCONFIGURATION; };
akashvibhute 0:30537dec6e0b 176 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 177
akashvibhute 0:30537dec6e0b 178 };
akashvibhute 0:30537dec6e0b 179
akashvibhute 0:30537dec6e0b 180 class SetModelConfiguration {
akashvibhute 0:30537dec6e0b 181 public:
akashvibhute 0:30537dec6e0b 182 typedef SetModelConfigurationRequest Request;
akashvibhute 0:30537dec6e0b 183 typedef SetModelConfigurationResponse Response;
akashvibhute 0:30537dec6e0b 184 };
akashvibhute 0:30537dec6e0b 185
akashvibhute 0:30537dec6e0b 186 }
akashvibhute 0:30537dec6e0b 187 #endif
akashvibhute 0:30537dec6e0b 188