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/SetModelConfiguration.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_SetModelConfiguration_h #define _ROS_SERVICE_SetModelConfiguration_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace gazebo_msgs { static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration"; class SetModelConfigurationRequest : public ros::Msg { public: const char* model_name; const char* urdf_param_name; uint8_t joint_names_length; char* st_joint_names; char* * joint_names; uint8_t joint_positions_length; float st_joint_positions; float * joint_positions; SetModelConfigurationRequest(): model_name(""), urdf_param_name(""), joint_names_length(0), joint_names(NULL), joint_positions_length(0), joint_positions(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_model_name = strlen(this->model_name); memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->model_name, length_model_name); offset += length_model_name; uint32_t length_urdf_param_name = strlen(this->urdf_param_name); memcpy(outbuffer + offset, &length_urdf_param_name, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); offset += length_urdf_param_name; *(outbuffer + offset++) = joint_names_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < joint_names_length; i++){ uint32_t length_joint_namesi = strlen(this->joint_names[i]); memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); offset += length_joint_namesi; } *(outbuffer + offset++) = joint_positions_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < joint_positions_length; i++){ offset += serializeAvrFloat64(outbuffer + offset, this->joint_positions[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_model_name; memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_model_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_model_name-1]=0; this->model_name = (char *)(inbuffer + offset-1); offset += length_model_name; uint32_t length_urdf_param_name; memcpy(&length_urdf_param_name, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_urdf_param_name-1]=0; this->urdf_param_name = (char *)(inbuffer + offset-1); offset += length_urdf_param_name; uint8_t joint_names_lengthT = *(inbuffer + offset++); if(joint_names_lengthT > joint_names_length) this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); offset += 3; joint_names_length = joint_names_lengthT; for( uint8_t i = 0; i < joint_names_length; i++){ uint32_t length_st_joint_names; memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_joint_names-1]=0; this->st_joint_names = (char *)(inbuffer + offset-1); offset += length_st_joint_names; memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); } uint8_t joint_positions_lengthT = *(inbuffer + offset++); if(joint_positions_lengthT > joint_positions_length) this->joint_positions = (float*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(float)); offset += 3; joint_positions_length = joint_positions_lengthT; for( uint8_t i = 0; i < joint_positions_length; i++){ offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_joint_positions)); memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(float)); } return offset; } const char * getType(){ return SETMODELCONFIGURATION; }; const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; }; class SetModelConfigurationResponse : public ros::Msg { public: bool success; const char* status_message; SetModelConfigurationResponse(): success(0), status_message("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; 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; 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 SETMODELCONFIGURATION; }; const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; }; class SetModelConfiguration { public: typedef SetModelConfigurationRequest Request; typedef SetModelConfigurationResponse Response; }; } #endif