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/SpawnModel.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_SpawnModel_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SpawnModel_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/Pose.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 SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class SpawnModelRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* model_name;
akashvibhute 0:30537dec6e0b 18 const char* model_xml;
akashvibhute 0:30537dec6e0b 19 const char* robot_namespace;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::Pose initial_pose;
akashvibhute 0:30537dec6e0b 21 const char* reference_frame;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 SpawnModelRequest():
akashvibhute 0:30537dec6e0b 24 model_name(""),
akashvibhute 0:30537dec6e0b 25 model_xml(""),
akashvibhute 0:30537dec6e0b 26 robot_namespace(""),
akashvibhute 0:30537dec6e0b 27 initial_pose(),
akashvibhute 0:30537dec6e0b 28 reference_frame("")
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 }
akashvibhute 0:30537dec6e0b 31
akashvibhute 0:30537dec6e0b 32 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 33 {
akashvibhute 0:30537dec6e0b 34 int offset = 0;
akashvibhute 0:30537dec6e0b 35 uint32_t length_model_name = strlen(this->model_name);
akashvibhute 0:30537dec6e0b 36 memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 37 offset += 4;
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, this->model_name, length_model_name);
akashvibhute 0:30537dec6e0b 39 offset += length_model_name;
akashvibhute 0:30537dec6e0b 40 uint32_t length_model_xml = strlen(this->model_xml);
akashvibhute 0:30537dec6e0b 41 memcpy(outbuffer + offset, &length_model_xml, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 42 offset += 4;
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, this->model_xml, length_model_xml);
akashvibhute 0:30537dec6e0b 44 offset += length_model_xml;
akashvibhute 0:30537dec6e0b 45 uint32_t length_robot_namespace = strlen(this->robot_namespace);
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, &length_robot_namespace, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
akashvibhute 0:30537dec6e0b 49 offset += length_robot_namespace;
akashvibhute 0:30537dec6e0b 50 offset += this->initial_pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 51 uint32_t length_reference_frame = strlen(this->reference_frame);
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 53 offset += 4;
akashvibhute 0:30537dec6e0b 54 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
akashvibhute 0:30537dec6e0b 55 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 56 return offset;
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 60 {
akashvibhute 0:30537dec6e0b 61 int offset = 0;
akashvibhute 0:30537dec6e0b 62 uint32_t length_model_name;
akashvibhute 0:30537dec6e0b 63 memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 64 offset += 4;
akashvibhute 0:30537dec6e0b 65 for(unsigned int k= offset; k< offset+length_model_name; ++k){
akashvibhute 0:30537dec6e0b 66 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 inbuffer[offset+length_model_name-1]=0;
akashvibhute 0:30537dec6e0b 69 this->model_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 70 offset += length_model_name;
akashvibhute 0:30537dec6e0b 71 uint32_t length_model_xml;
akashvibhute 0:30537dec6e0b 72 memcpy(&length_model_xml, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 73 offset += 4;
akashvibhute 0:30537dec6e0b 74 for(unsigned int k= offset; k< offset+length_model_xml; ++k){
akashvibhute 0:30537dec6e0b 75 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 76 }
akashvibhute 0:30537dec6e0b 77 inbuffer[offset+length_model_xml-1]=0;
akashvibhute 0:30537dec6e0b 78 this->model_xml = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 79 offset += length_model_xml;
akashvibhute 0:30537dec6e0b 80 uint32_t length_robot_namespace;
akashvibhute 0:30537dec6e0b 81 memcpy(&length_robot_namespace, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 82 offset += 4;
akashvibhute 0:30537dec6e0b 83 for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
akashvibhute 0:30537dec6e0b 84 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 inbuffer[offset+length_robot_namespace-1]=0;
akashvibhute 0:30537dec6e0b 87 this->robot_namespace = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 88 offset += length_robot_namespace;
akashvibhute 0:30537dec6e0b 89 offset += this->initial_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 90 uint32_t length_reference_frame;
akashvibhute 0:30537dec6e0b 91 memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 92 offset += 4;
akashvibhute 0:30537dec6e0b 93 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
akashvibhute 0:30537dec6e0b 94 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 95 }
akashvibhute 0:30537dec6e0b 96 inbuffer[offset+length_reference_frame-1]=0;
akashvibhute 0:30537dec6e0b 97 this->reference_frame = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 98 offset += length_reference_frame;
akashvibhute 0:30537dec6e0b 99 return offset;
akashvibhute 0:30537dec6e0b 100 }
akashvibhute 0:30537dec6e0b 101
akashvibhute 0:30537dec6e0b 102 const char * getType(){ return SPAWNMODEL; };
akashvibhute 0:30537dec6e0b 103 const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
akashvibhute 0:30537dec6e0b 104
akashvibhute 0:30537dec6e0b 105 };
akashvibhute 0:30537dec6e0b 106
akashvibhute 0:30537dec6e0b 107 class SpawnModelResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 108 {
akashvibhute 0:30537dec6e0b 109 public:
akashvibhute 0:30537dec6e0b 110 bool success;
akashvibhute 0:30537dec6e0b 111 const char* status_message;
akashvibhute 0:30537dec6e0b 112
akashvibhute 0:30537dec6e0b 113 SpawnModelResponse():
akashvibhute 0:30537dec6e0b 114 success(0),
akashvibhute 0:30537dec6e0b 115 status_message("")
akashvibhute 0:30537dec6e0b 116 {
akashvibhute 0:30537dec6e0b 117 }
akashvibhute 0:30537dec6e0b 118
akashvibhute 0:30537dec6e0b 119 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 120 {
akashvibhute 0:30537dec6e0b 121 int offset = 0;
akashvibhute 0:30537dec6e0b 122 union {
akashvibhute 0:30537dec6e0b 123 bool real;
akashvibhute 0:30537dec6e0b 124 uint8_t base;
akashvibhute 0:30537dec6e0b 125 } u_success;
akashvibhute 0:30537dec6e0b 126 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 127 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 128 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 129 uint32_t length_status_message = strlen(this->status_message);
akashvibhute 0:30537dec6e0b 130 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 131 offset += 4;
akashvibhute 0:30537dec6e0b 132 memcpy(outbuffer + offset, this->status_message, length_status_message);
akashvibhute 0:30537dec6e0b 133 offset += length_status_message;
akashvibhute 0:30537dec6e0b 134 return offset;
akashvibhute 0:30537dec6e0b 135 }
akashvibhute 0:30537dec6e0b 136
akashvibhute 0:30537dec6e0b 137 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 138 {
akashvibhute 0:30537dec6e0b 139 int offset = 0;
akashvibhute 0:30537dec6e0b 140 union {
akashvibhute 0:30537dec6e0b 141 bool real;
akashvibhute 0:30537dec6e0b 142 uint8_t base;
akashvibhute 0:30537dec6e0b 143 } u_success;
akashvibhute 0:30537dec6e0b 144 u_success.base = 0;
akashvibhute 0:30537dec6e0b 145 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 146 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 147 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 148 uint32_t length_status_message;
akashvibhute 0:30537dec6e0b 149 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 150 offset += 4;
akashvibhute 0:30537dec6e0b 151 for(unsigned int k= offset; k< offset+length_status_message; ++k){
akashvibhute 0:30537dec6e0b 152 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 153 }
akashvibhute 0:30537dec6e0b 154 inbuffer[offset+length_status_message-1]=0;
akashvibhute 0:30537dec6e0b 155 this->status_message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 156 offset += length_status_message;
akashvibhute 0:30537dec6e0b 157 return offset;
akashvibhute 0:30537dec6e0b 158 }
akashvibhute 0:30537dec6e0b 159
akashvibhute 0:30537dec6e0b 160 const char * getType(){ return SPAWNMODEL; };
akashvibhute 0:30537dec6e0b 161 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
akashvibhute 0:30537dec6e0b 162
akashvibhute 0:30537dec6e0b 163 };
akashvibhute 0:30537dec6e0b 164
akashvibhute 0:30537dec6e0b 165 class SpawnModel {
akashvibhute 0:30537dec6e0b 166 public:
akashvibhute 0:30537dec6e0b 167 typedef SpawnModelRequest Request;
akashvibhute 0:30537dec6e0b 168 typedef SpawnModelResponse Response;
akashvibhute 0:30537dec6e0b 169 };
akashvibhute 0:30537dec6e0b 170
akashvibhute 0:30537dec6e0b 171 }
akashvibhute 0:30537dec6e0b 172 #endif
akashvibhute 0:30537dec6e0b 173