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/SetModelConfiguration.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_SetModelConfiguration_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_SetModelConfiguration_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 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class SetModelConfigurationRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef const char* _model_name_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _model_name_type model_name; |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _urdf_param_name_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _urdf_param_name_type urdf_param_name; |
garyservin | 0:9e9b7db60fd5 | 20 | uint32_t joint_names_length; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef char* _joint_names_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _joint_names_type st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 23 | _joint_names_type * joint_names; |
garyservin | 0:9e9b7db60fd5 | 24 | uint32_t joint_positions_length; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef double _joint_positions_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _joint_positions_type st_joint_positions; |
garyservin | 0:9e9b7db60fd5 | 27 | _joint_positions_type * joint_positions; |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | SetModelConfigurationRequest(): |
garyservin | 0:9e9b7db60fd5 | 30 | model_name(""), |
garyservin | 0:9e9b7db60fd5 | 31 | urdf_param_name(""), |
garyservin | 0:9e9b7db60fd5 | 32 | joint_names_length(0), joint_names(NULL), |
garyservin | 0:9e9b7db60fd5 | 33 | joint_positions_length(0), joint_positions(NULL) |
garyservin | 0:9e9b7db60fd5 | 34 | { |
garyservin | 0:9e9b7db60fd5 | 35 | } |
garyservin | 0:9e9b7db60fd5 | 36 | |
garyservin | 0:9e9b7db60fd5 | 37 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 38 | { |
garyservin | 0:9e9b7db60fd5 | 39 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 40 | uint32_t length_model_name = strlen(this->model_name); |
garyservin | 0:9e9b7db60fd5 | 41 | varToArr(outbuffer + offset, length_model_name); |
garyservin | 0:9e9b7db60fd5 | 42 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 43 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
garyservin | 0:9e9b7db60fd5 | 44 | offset += length_model_name; |
garyservin | 0:9e9b7db60fd5 | 45 | uint32_t length_urdf_param_name = strlen(this->urdf_param_name); |
garyservin | 0:9e9b7db60fd5 | 46 | varToArr(outbuffer + offset, length_urdf_param_name); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 48 | memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); |
garyservin | 0:9e9b7db60fd5 | 49 | offset += length_urdf_param_name; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 55 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 56 | uint32_t length_joint_namesi = strlen(this->joint_names[i]); |
garyservin | 0:9e9b7db60fd5 | 57 | varToArr(outbuffer + offset, length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 58 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 59 | memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 60 | offset += length_joint_namesi; |
garyservin | 0:9e9b7db60fd5 | 61 | } |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | offset += sizeof(this->joint_positions_length); |
garyservin | 0:9e9b7db60fd5 | 67 | for( uint32_t i = 0; i < joint_positions_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 68 | union { |
garyservin | 0:9e9b7db60fd5 | 69 | double real; |
garyservin | 0:9e9b7db60fd5 | 70 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 71 | } u_joint_positionsi; |
garyservin | 0:9e9b7db60fd5 | 72 | u_joint_positionsi.real = this->joint_positions[i]; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 78 | *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 79 | *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 80 | *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 81 | offset += sizeof(this->joint_positions[i]); |
garyservin | 0:9e9b7db60fd5 | 82 | } |
garyservin | 0:9e9b7db60fd5 | 83 | return offset; |
garyservin | 0:9e9b7db60fd5 | 84 | } |
garyservin | 0:9e9b7db60fd5 | 85 | |
garyservin | 0:9e9b7db60fd5 | 86 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 87 | { |
garyservin | 0:9e9b7db60fd5 | 88 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 89 | uint32_t length_model_name; |
garyservin | 0:9e9b7db60fd5 | 90 | arrToVar(length_model_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 91 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 92 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 93 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 94 | } |
garyservin | 0:9e9b7db60fd5 | 95 | inbuffer[offset+length_model_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 96 | this->model_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 97 | offset += length_model_name; |
garyservin | 0:9e9b7db60fd5 | 98 | uint32_t length_urdf_param_name; |
garyservin | 0:9e9b7db60fd5 | 99 | arrToVar(length_urdf_param_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 100 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 101 | for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 102 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 103 | } |
garyservin | 0:9e9b7db60fd5 | 104 | inbuffer[offset+length_urdf_param_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 105 | this->urdf_param_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 106 | offset += length_urdf_param_name; |
garyservin | 0:9e9b7db60fd5 | 107 | uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 108 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 109 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 110 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 111 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 112 | if(joint_names_lengthT > joint_names_length) |
garyservin | 0:9e9b7db60fd5 | 113 | this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 114 | joint_names_length = joint_names_lengthT; |
garyservin | 0:9e9b7db60fd5 | 115 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 116 | uint32_t length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 117 | arrToVar(length_st_joint_names, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 118 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 119 | for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ |
garyservin | 0:9e9b7db60fd5 | 120 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 121 | } |
garyservin | 0:9e9b7db60fd5 | 122 | inbuffer[offset+length_st_joint_names-1]=0; |
garyservin | 0:9e9b7db60fd5 | 123 | this->st_joint_names = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 124 | offset += length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 125 | memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 126 | } |
garyservin | 0:9e9b7db60fd5 | 127 | uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 128 | joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 129 | joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 130 | joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 131 | offset += sizeof(this->joint_positions_length); |
garyservin | 0:9e9b7db60fd5 | 132 | if(joint_positions_lengthT > joint_positions_length) |
garyservin | 0:9e9b7db60fd5 | 133 | this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double)); |
garyservin | 0:9e9b7db60fd5 | 134 | joint_positions_length = joint_positions_lengthT; |
garyservin | 0:9e9b7db60fd5 | 135 | for( uint32_t i = 0; i < joint_positions_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 136 | union { |
garyservin | 0:9e9b7db60fd5 | 137 | double real; |
garyservin | 0:9e9b7db60fd5 | 138 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 139 | } u_st_joint_positions; |
garyservin | 0:9e9b7db60fd5 | 140 | u_st_joint_positions.base = 0; |
garyservin | 0:9e9b7db60fd5 | 141 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 142 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 143 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 144 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 145 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 146 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 147 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 148 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 149 | this->st_joint_positions = u_st_joint_positions.real; |
garyservin | 0:9e9b7db60fd5 | 150 | offset += sizeof(this->st_joint_positions); |
garyservin | 0:9e9b7db60fd5 | 151 | memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double)); |
garyservin | 0:9e9b7db60fd5 | 152 | } |
garyservin | 0:9e9b7db60fd5 | 153 | return offset; |
garyservin | 0:9e9b7db60fd5 | 154 | } |
garyservin | 0:9e9b7db60fd5 | 155 | |
garyservin | 0:9e9b7db60fd5 | 156 | const char * getType(){ return SETMODELCONFIGURATION; }; |
garyservin | 0:9e9b7db60fd5 | 157 | const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; |
garyservin | 0:9e9b7db60fd5 | 158 | |
garyservin | 0:9e9b7db60fd5 | 159 | }; |
garyservin | 0:9e9b7db60fd5 | 160 | |
garyservin | 0:9e9b7db60fd5 | 161 | class SetModelConfigurationResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 162 | { |
garyservin | 0:9e9b7db60fd5 | 163 | public: |
garyservin | 0:9e9b7db60fd5 | 164 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 165 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 166 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 167 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 168 | |
garyservin | 0:9e9b7db60fd5 | 169 | SetModelConfigurationResponse(): |
garyservin | 0:9e9b7db60fd5 | 170 | success(0), |
garyservin | 0:9e9b7db60fd5 | 171 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 172 | { |
garyservin | 0:9e9b7db60fd5 | 173 | } |
garyservin | 0:9e9b7db60fd5 | 174 | |
garyservin | 0:9e9b7db60fd5 | 175 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 176 | { |
garyservin | 0:9e9b7db60fd5 | 177 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 178 | union { |
garyservin | 0:9e9b7db60fd5 | 179 | bool real; |
garyservin | 0:9e9b7db60fd5 | 180 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 181 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 182 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 183 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 184 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 185 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 186 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 187 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 188 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 189 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 190 | return offset; |
garyservin | 0:9e9b7db60fd5 | 191 | } |
garyservin | 0:9e9b7db60fd5 | 192 | |
garyservin | 0:9e9b7db60fd5 | 193 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 194 | { |
garyservin | 0:9e9b7db60fd5 | 195 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 196 | union { |
garyservin | 0:9e9b7db60fd5 | 197 | bool real; |
garyservin | 0:9e9b7db60fd5 | 198 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 199 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 200 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 201 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 202 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 203 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 204 | uint32_t length_status_message; |
garyservin | 0:9e9b7db60fd5 | 205 | arrToVar(length_status_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 206 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 207 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 208 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 209 | } |
garyservin | 0:9e9b7db60fd5 | 210 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 211 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 212 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 213 | return offset; |
garyservin | 0:9e9b7db60fd5 | 214 | } |
garyservin | 0:9e9b7db60fd5 | 215 | |
garyservin | 0:9e9b7db60fd5 | 216 | const char * getType(){ return SETMODELCONFIGURATION; }; |
garyservin | 0:9e9b7db60fd5 | 217 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:9e9b7db60fd5 | 218 | |
garyservin | 0:9e9b7db60fd5 | 219 | }; |
garyservin | 0:9e9b7db60fd5 | 220 | |
garyservin | 0:9e9b7db60fd5 | 221 | class SetModelConfiguration { |
garyservin | 0:9e9b7db60fd5 | 222 | public: |
garyservin | 0:9e9b7db60fd5 | 223 | typedef SetModelConfigurationRequest Request; |
garyservin | 0:9e9b7db60fd5 | 224 | typedef SetModelConfigurationResponse Response; |
garyservin | 0:9e9b7db60fd5 | 225 | }; |
garyservin | 0:9e9b7db60fd5 | 226 | |
garyservin | 0:9e9b7db60fd5 | 227 | } |
garyservin | 0:9e9b7db60fd5 | 228 | #endif |