ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
gazebo_msgs/SetJointTrajectory.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_SetJointTrajectory_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_SetJointTrajectory_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | #include "trajectory_msgs/JointTrajectory.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "geometry_msgs/Pose.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory"; |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class SetJointTrajectoryRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _model_name_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _model_name_type model_name; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef trajectory_msgs::JointTrajectory _joint_trajectory_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _joint_trajectory_type joint_trajectory; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef geometry_msgs::Pose _model_pose_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _model_pose_type model_pose; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef bool _set_model_pose_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _set_model_pose_type set_model_pose; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef bool _disable_physics_updates_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _disable_physics_updates_type disable_physics_updates; |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | SetJointTrajectoryRequest(): |
garyservin | 0:9e9b7db60fd5 | 30 | model_name(""), |
garyservin | 0:9e9b7db60fd5 | 31 | joint_trajectory(), |
garyservin | 0:9e9b7db60fd5 | 32 | model_pose(), |
garyservin | 0:9e9b7db60fd5 | 33 | set_model_pose(0), |
garyservin | 0:9e9b7db60fd5 | 34 | disable_physics_updates(0) |
garyservin | 0:9e9b7db60fd5 | 35 | { |
garyservin | 0:9e9b7db60fd5 | 36 | } |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 39 | { |
garyservin | 0:9e9b7db60fd5 | 40 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 41 | uint32_t length_model_name = strlen(this->model_name); |
garyservin | 0:9e9b7db60fd5 | 42 | varToArr(outbuffer + offset, length_model_name); |
garyservin | 0:9e9b7db60fd5 | 43 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 44 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
garyservin | 0:9e9b7db60fd5 | 45 | offset += length_model_name; |
garyservin | 0:9e9b7db60fd5 | 46 | offset += this->joint_trajectory.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += this->model_pose.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 48 | union { |
garyservin | 0:9e9b7db60fd5 | 49 | bool real; |
garyservin | 0:9e9b7db60fd5 | 50 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 51 | } u_set_model_pose; |
garyservin | 0:9e9b7db60fd5 | 52 | u_set_model_pose.real = this->set_model_pose; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | offset += sizeof(this->set_model_pose); |
garyservin | 0:9e9b7db60fd5 | 55 | union { |
garyservin | 0:9e9b7db60fd5 | 56 | bool real; |
garyservin | 0:9e9b7db60fd5 | 57 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 58 | } u_disable_physics_updates; |
garyservin | 0:9e9b7db60fd5 | 59 | u_disable_physics_updates.real = this->disable_physics_updates; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | offset += sizeof(this->disable_physics_updates); |
garyservin | 0:9e9b7db60fd5 | 62 | return offset; |
garyservin | 0:9e9b7db60fd5 | 63 | } |
garyservin | 0:9e9b7db60fd5 | 64 | |
garyservin | 0:9e9b7db60fd5 | 65 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 66 | { |
garyservin | 0:9e9b7db60fd5 | 67 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 68 | uint32_t length_model_name; |
garyservin | 0:9e9b7db60fd5 | 69 | arrToVar(length_model_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 70 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 71 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 72 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 73 | } |
garyservin | 0:9e9b7db60fd5 | 74 | inbuffer[offset+length_model_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 75 | this->model_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 76 | offset += length_model_name; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += this->joint_trajectory.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 78 | offset += this->model_pose.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 79 | union { |
garyservin | 0:9e9b7db60fd5 | 80 | bool real; |
garyservin | 0:9e9b7db60fd5 | 81 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 82 | } u_set_model_pose; |
garyservin | 0:9e9b7db60fd5 | 83 | u_set_model_pose.base = 0; |
garyservin | 0:9e9b7db60fd5 | 84 | u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 85 | this->set_model_pose = u_set_model_pose.real; |
garyservin | 0:9e9b7db60fd5 | 86 | offset += sizeof(this->set_model_pose); |
garyservin | 0:9e9b7db60fd5 | 87 | union { |
garyservin | 0:9e9b7db60fd5 | 88 | bool real; |
garyservin | 0:9e9b7db60fd5 | 89 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 90 | } u_disable_physics_updates; |
garyservin | 0:9e9b7db60fd5 | 91 | u_disable_physics_updates.base = 0; |
garyservin | 0:9e9b7db60fd5 | 92 | u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 93 | this->disable_physics_updates = u_disable_physics_updates.real; |
garyservin | 0:9e9b7db60fd5 | 94 | offset += sizeof(this->disable_physics_updates); |
garyservin | 0:9e9b7db60fd5 | 95 | return offset; |
garyservin | 0:9e9b7db60fd5 | 96 | } |
garyservin | 0:9e9b7db60fd5 | 97 | |
garyservin | 0:9e9b7db60fd5 | 98 | const char * getType(){ return SETJOINTTRAJECTORY; }; |
garyservin | 0:9e9b7db60fd5 | 99 | const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; }; |
garyservin | 0:9e9b7db60fd5 | 100 | |
garyservin | 0:9e9b7db60fd5 | 101 | }; |
garyservin | 0:9e9b7db60fd5 | 102 | |
garyservin | 0:9e9b7db60fd5 | 103 | class SetJointTrajectoryResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 104 | { |
garyservin | 0:9e9b7db60fd5 | 105 | public: |
garyservin | 0:9e9b7db60fd5 | 106 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 107 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 108 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 109 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 110 | |
garyservin | 0:9e9b7db60fd5 | 111 | SetJointTrajectoryResponse(): |
garyservin | 0:9e9b7db60fd5 | 112 | success(0), |
garyservin | 0:9e9b7db60fd5 | 113 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 114 | { |
garyservin | 0:9e9b7db60fd5 | 115 | } |
garyservin | 0:9e9b7db60fd5 | 116 | |
garyservin | 0:9e9b7db60fd5 | 117 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 118 | { |
garyservin | 0:9e9b7db60fd5 | 119 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 120 | union { |
garyservin | 0:9e9b7db60fd5 | 121 | bool real; |
garyservin | 0:9e9b7db60fd5 | 122 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 123 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 124 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 125 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 126 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 127 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 128 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 129 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 130 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 131 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 132 | return offset; |
garyservin | 0:9e9b7db60fd5 | 133 | } |
garyservin | 0:9e9b7db60fd5 | 134 | |
garyservin | 0:9e9b7db60fd5 | 135 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 136 | { |
garyservin | 0:9e9b7db60fd5 | 137 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 138 | union { |
garyservin | 0:9e9b7db60fd5 | 139 | bool real; |
garyservin | 0:9e9b7db60fd5 | 140 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 141 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 142 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 143 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 144 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 145 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 146 | uint32_t length_status_message; |
garyservin | 0:9e9b7db60fd5 | 147 | arrToVar(length_status_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 148 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 149 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 150 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 151 | } |
garyservin | 0:9e9b7db60fd5 | 152 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 153 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 154 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 155 | return offset; |
garyservin | 0:9e9b7db60fd5 | 156 | } |
garyservin | 0:9e9b7db60fd5 | 157 | |
garyservin | 0:9e9b7db60fd5 | 158 | const char * getType(){ return SETJOINTTRAJECTORY; }; |
garyservin | 0:9e9b7db60fd5 | 159 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:9e9b7db60fd5 | 160 | |
garyservin | 0:9e9b7db60fd5 | 161 | }; |
garyservin | 0:9e9b7db60fd5 | 162 | |
garyservin | 0:9e9b7db60fd5 | 163 | class SetJointTrajectory { |
garyservin | 0:9e9b7db60fd5 | 164 | public: |
garyservin | 0:9e9b7db60fd5 | 165 | typedef SetJointTrajectoryRequest Request; |
garyservin | 0:9e9b7db60fd5 | 166 | typedef SetJointTrajectoryResponse Response; |
garyservin | 0:9e9b7db60fd5 | 167 | }; |
garyservin | 0:9e9b7db60fd5 | 168 | |
garyservin | 0:9e9b7db60fd5 | 169 | } |
garyservin | 0:9e9b7db60fd5 | 170 | #endif |