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/ModelStates.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_gazebo_msgs_ModelStates_h #define _ROS_gazebo_msgs_ModelStates_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/Pose.h" #include "geometry_msgs/Twist.h" namespace gazebo_msgs { class ModelStates : public ros::Msg { public: uint32_t name_length; typedef char* _name_type; _name_type st_name; _name_type * name; uint32_t pose_length; typedef geometry_msgs::Pose _pose_type; _pose_type st_pose; _pose_type * pose; uint32_t twist_length; typedef geometry_msgs::Twist _twist_type; _twist_type st_twist; _twist_type * twist; ModelStates(): name_length(0), name(NULL), pose_length(0), pose(NULL), twist_length(0), twist(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF; offset += sizeof(this->name_length); for( uint32_t i = 0; i < name_length; i++){ uint32_t length_namei = strlen(this->name[i]); varToArr(outbuffer + offset, length_namei); offset += 4; memcpy(outbuffer + offset, this->name[i], length_namei); offset += length_namei; } *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF; offset += sizeof(this->pose_length); for( uint32_t i = 0; i < pose_length; i++){ offset += this->pose[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; offset += sizeof(this->twist_length); for( uint32_t i = 0; i < twist_length; i++){ offset += this->twist[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->name_length); if(name_lengthT > name_length) this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); name_length = name_lengthT; for( uint32_t i = 0; i < name_length; i++){ uint32_t length_st_name; arrToVar(length_st_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_name-1]=0; this->st_name = (char *)(inbuffer + offset-1); offset += length_st_name; memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); } uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset))); pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->pose_length); if(pose_lengthT > pose_length) this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose)); pose_length = pose_lengthT; for( uint32_t i = 0; i < pose_length; i++){ offset += this->st_pose.deserialize(inbuffer + offset); memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose)); } uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->twist_length); if(twist_lengthT > twist_length) this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); twist_length = twist_lengthT; for( uint32_t i = 0; i < twist_length; i++){ offset += this->st_twist.deserialize(inbuffer + offset); memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); } return offset; } const char * getType(){ return "gazebo_msgs/ModelStates"; }; const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; }; }; } #endif