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
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#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: typedef const char* _model_name_type; _model_name_type model_name; typedef const char* _urdf_param_name_type; _urdf_param_name_type urdf_param_name; uint32_t joint_names_length; typedef char* _joint_names_type; _joint_names_type st_joint_names; _joint_names_type * joint_names; uint32_t joint_positions_length; typedef double _joint_positions_type; _joint_positions_type st_joint_positions; _joint_positions_type * 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); varToArr(outbuffer + offset, length_model_name); 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); varToArr(outbuffer + offset, length_urdf_param_name); offset += 4; memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); offset += length_urdf_param_name; *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; offset += sizeof(this->joint_names_length); for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_joint_namesi = strlen(this->joint_names[i]); varToArr(outbuffer + offset, length_joint_namesi); offset += 4; memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); offset += length_joint_namesi; } *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF; offset += sizeof(this->joint_positions_length); for( uint32_t i = 0; i < joint_positions_length; i++){ union { double real; uint64_t base; } u_joint_positionsi; u_joint_positionsi.real = this->joint_positions[i]; *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->joint_positions[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_model_name; arrToVar(length_model_name, (inbuffer + offset)); 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; arrToVar(length_urdf_param_name, (inbuffer + offset)); 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; uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->joint_names_length); if(joint_names_lengthT > joint_names_length) this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); joint_names_length = joint_names_lengthT; for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_st_joint_names; arrToVar(length_st_joint_names, (inbuffer + offset)); 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*)); } uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->joint_positions_length); if(joint_positions_lengthT > joint_positions_length) this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double)); joint_positions_length = joint_positions_lengthT; for( uint32_t i = 0; i < joint_positions_length; i++){ union { double real; uint64_t base; } u_st_joint_positions; u_st_joint_positions.base = 0; u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_joint_positions = u_st_joint_positions.real; offset += sizeof(this->st_joint_positions); memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double)); } return offset; } const char * getType(){ return SETMODELCONFIGURATION; }; const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; }; class SetModelConfigurationResponse : public ros::Msg { public: typedef bool _success_type; _success_type success; typedef const char* _status_message_type; _status_message_type 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); varToArr(outbuffer + offset, length_status_message); 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; arrToVar(length_status_message, (inbuffer + offset)); 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