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/SetPhysicsProperties.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_SetPhysicsProperties_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SetPhysicsProperties_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/Vector3.h"
akashvibhute 0:30537dec6e0b 8 #include "gazebo_msgs/ODEPhysics.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 SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class SetPhysicsPropertiesRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 float time_step;
akashvibhute 0:30537dec6e0b 19 float max_update_rate;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::Vector3 gravity;
akashvibhute 0:30537dec6e0b 21 gazebo_msgs::ODEPhysics ode_config;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 SetPhysicsPropertiesRequest():
akashvibhute 0:30537dec6e0b 24 time_step(0),
akashvibhute 0:30537dec6e0b 25 max_update_rate(0),
akashvibhute 0:30537dec6e0b 26 gravity(),
akashvibhute 0:30537dec6e0b 27 ode_config()
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 }
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 offset += serializeAvrFloat64(outbuffer + offset, this->time_step);
akashvibhute 0:30537dec6e0b 35 offset += serializeAvrFloat64(outbuffer + offset, this->max_update_rate);
akashvibhute 0:30537dec6e0b 36 offset += this->gravity.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 offset += this->ode_config.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 38 return offset;
akashvibhute 0:30537dec6e0b 39 }
akashvibhute 0:30537dec6e0b 40
akashvibhute 0:30537dec6e0b 41 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 42 {
akashvibhute 0:30537dec6e0b 43 int offset = 0;
akashvibhute 0:30537dec6e0b 44 offset += deserializeAvrFloat64(inbuffer + offset, &(this->time_step));
akashvibhute 0:30537dec6e0b 45 offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_update_rate));
akashvibhute 0:30537dec6e0b 46 offset += this->gravity.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 47 offset += this->ode_config.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 48 return offset;
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50
akashvibhute 0:30537dec6e0b 51 const char * getType(){ return SETPHYSICSPROPERTIES; };
akashvibhute 0:30537dec6e0b 52 const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
akashvibhute 0:30537dec6e0b 53
akashvibhute 0:30537dec6e0b 54 };
akashvibhute 0:30537dec6e0b 55
akashvibhute 0:30537dec6e0b 56 class SetPhysicsPropertiesResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 57 {
akashvibhute 0:30537dec6e0b 58 public:
akashvibhute 0:30537dec6e0b 59 bool success;
akashvibhute 0:30537dec6e0b 60 const char* status_message;
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 SetPhysicsPropertiesResponse():
akashvibhute 0:30537dec6e0b 63 success(0),
akashvibhute 0:30537dec6e0b 64 status_message("")
akashvibhute 0:30537dec6e0b 65 {
akashvibhute 0:30537dec6e0b 66 }
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 69 {
akashvibhute 0:30537dec6e0b 70 int offset = 0;
akashvibhute 0:30537dec6e0b 71 union {
akashvibhute 0:30537dec6e0b 72 bool real;
akashvibhute 0:30537dec6e0b 73 uint8_t base;
akashvibhute 0:30537dec6e0b 74 } u_success;
akashvibhute 0:30537dec6e0b 75 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 77 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 78 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 79 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 80 offset += 4;
akashvibhute 0:30537dec6e0b 81 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 82 offset += length_status_message;
akashvibhute 0:30537dec6e0b 83 return offset;
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 87 {
akashvibhute 0:30537dec6e0b 88 int offset = 0;
akashvibhute 0:30537dec6e0b 89 union {
akashvibhute 0:30537dec6e0b 90 bool real;
akashvibhute 0:30537dec6e0b 91 uint8_t base;
akashvibhute 0:30537dec6e0b 92 } u_success;
akashvibhute 0:30537dec6e0b 93 u_success.base = 0;
akashvibhute 0:30537dec6e0b 94 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 95 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 96 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 97 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 98 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 99 offset += 4;
akashvibhute 0:30537dec6e0b 100 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 101 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 104 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 105 offset += length_status_message;
akashvibhute 0:30537dec6e0b 106 return offset;
akashvibhute 0:30537dec6e0b 107 }
akashvibhute 0:30537dec6e0b 108
akashvibhute 0:30537dec6e0b 109 const char * getType(){ return SETPHYSICSPROPERTIES; };
akashvibhute 0:30537dec6e0b 110 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 111
akashvibhute 0:30537dec6e0b 112 };
akashvibhute 0:30537dec6e0b 113
akashvibhute 0:30537dec6e0b 114 class SetPhysicsProperties {
akashvibhute 0:30537dec6e0b 115 public:
akashvibhute 0:30537dec6e0b 116 typedef SetPhysicsPropertiesRequest Request;
akashvibhute 0:30537dec6e0b 117 typedef SetPhysicsPropertiesResponse Response;
akashvibhute 0:30537dec6e0b 118 };
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 }
akashvibhute 0:30537dec6e0b 121 #endif
akashvibhute 0:30537dec6e0b 122