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/GetJointProperties.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_GetJointProperties_h #define _ROS_SERVICE_GetJointProperties_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace gazebo_msgs { static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties"; class GetJointPropertiesRequest : public ros::Msg { public: const char* joint_name; GetJointPropertiesRequest(): joint_name("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_joint_name = strlen(this->joint_name); memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->joint_name, length_joint_name); offset += length_joint_name; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_joint_name; memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_joint_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_joint_name-1]=0; this->joint_name = (char *)(inbuffer + offset-1); offset += length_joint_name; return offset; } const char * getType(){ return GETJOINTPROPERTIES; }; const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; }; }; class GetJointPropertiesResponse : public ros::Msg { public: uint8_t type; uint8_t damping_length; float st_damping; float * damping; uint8_t position_length; float st_position; float * position; uint8_t rate_length; float st_rate; float * rate; bool success; const char* status_message; enum { REVOLUTE = 0 }; enum { CONTINUOUS = 1 }; enum { PRISMATIC = 2 }; enum { FIXED = 3 }; enum { BALL = 4 }; enum { UNIVERSAL = 5 }; GetJointPropertiesResponse(): type(0), damping_length(0), damping(NULL), position_length(0), position(NULL), rate_length(0), rate(NULL), success(0), status_message("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; offset += sizeof(this->type); *(outbuffer + offset++) = damping_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < damping_length; i++){ offset += serializeAvrFloat64(outbuffer + offset, this->damping[i]); } *(outbuffer + offset++) = position_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < position_length; i++){ offset += serializeAvrFloat64(outbuffer + offset, this->position[i]); } *(outbuffer + offset++) = rate_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < rate_length; i++){ offset += serializeAvrFloat64(outbuffer + offset, this->rate[i]); } union { bool real; uint8_t base; } u_success; u_success.real = this->success; *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; offset += sizeof(this->success); uint32_t length_status_message = strlen(this->status_message); memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->status_message, length_status_message); offset += length_status_message; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; this->type = ((uint8_t) (*(inbuffer + offset))); offset += sizeof(this->type); uint8_t damping_lengthT = *(inbuffer + offset++); if(damping_lengthT > damping_length) this->damping = (float*)realloc(this->damping, damping_lengthT * sizeof(float)); offset += 3; damping_length = damping_lengthT; for( uint8_t i = 0; i < damping_length; i++){ offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_damping)); memcpy( &(this->damping[i]), &(this->st_damping), sizeof(float)); } uint8_t position_lengthT = *(inbuffer + offset++); if(position_lengthT > position_length) this->position = (float*)realloc(this->position, position_lengthT * sizeof(float)); offset += 3; position_length = position_lengthT; for( uint8_t i = 0; i < position_length; i++){ offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_position)); memcpy( &(this->position[i]), &(this->st_position), sizeof(float)); } uint8_t rate_lengthT = *(inbuffer + offset++); if(rate_lengthT > rate_length) this->rate = (float*)realloc(this->rate, rate_lengthT * sizeof(float)); offset += 3; rate_length = rate_lengthT; for( uint8_t i = 0; i < rate_length; i++){ offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_rate)); memcpy( &(this->rate[i]), &(this->st_rate), sizeof(float)); } union { bool real; uint8_t base; } u_success; u_success.base = 0; u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->success = u_success.real; offset += sizeof(this->success); uint32_t length_status_message; memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_status_message; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_status_message-1]=0; this->status_message = (char *)(inbuffer + offset-1); offset += length_status_message; return offset; } const char * getType(){ return GETJOINTPROPERTIES; }; const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; }; }; class GetJointProperties { public: typedef GetJointPropertiesRequest Request; typedef GetJointPropertiesResponse Response; }; } #endif