ApplyJointEffort.h

00001 #ifndef _ROS_SERVICE_ApplyJointEffort_h
00002 #define _ROS_SERVICE_ApplyJointEffort_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "ros/duration.h"
00008 #include "ros/time.h"
00009 
00010 namespace gazebo_msgs
00011 {
00012 
00013 static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";
00014 
00015   class ApplyJointEffortRequest : public ros::Msg
00016   {
00017     public:
00018       const char* joint_name;
00019       double effort;
00020       ros::Time start_time;
00021       ros::Duration duration;
00022 
00023     ApplyJointEffortRequest():
00024       joint_name(""),
00025       effort(0),
00026       start_time(),
00027       duration()
00028     {
00029     }
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       uint32_t length_joint_name = strlen(this->joint_name);
00035       memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
00036       offset += 4;
00037       memcpy(outbuffer + offset, this->joint_name, length_joint_name);
00038       offset += length_joint_name;
00039       union {
00040         double real;
00041         uint64_t base;
00042       } u_effort;
00043       u_effort.real = this->effort;
00044       *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
00046       *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
00047       *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
00048       *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
00049       *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
00050       *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
00051       *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
00052       offset += sizeof(this->effort);
00053       *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
00057       offset += sizeof(this->start_time.sec);
00058       *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
00059       *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
00060       *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
00061       *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
00062       offset += sizeof(this->start_time.nsec);
00063       *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
00064       *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
00065       *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
00066       *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
00067       offset += sizeof(this->duration.sec);
00068       *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
00072       offset += sizeof(this->duration.nsec);
00073       return offset;
00074     }
00075 
00076     virtual int deserialize(unsigned char *inbuffer)
00077     {
00078       int offset = 0;
00079       uint32_t length_joint_name;
00080       memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
00081       offset += 4;
00082       for(unsigned int k= offset; k< offset+length_joint_name; ++k){
00083           inbuffer[k-1]=inbuffer[k];
00084       }
00085       inbuffer[offset+length_joint_name-1]=0;
00086       this->joint_name = (char *)(inbuffer + offset-1);
00087       offset += length_joint_name;
00088       union {
00089         double real;
00090         uint64_t base;
00091       } u_effort;
00092       u_effort.base = 0;
00093       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00094       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00095       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00096       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00097       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00098       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00099       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00100       u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00101       this->effort = u_effort.real;
00102       offset += sizeof(this->effort);
00103       this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
00104       this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00105       this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00106       this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00107       offset += sizeof(this->start_time.sec);
00108       this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
00109       this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00110       this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00111       this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00112       offset += sizeof(this->start_time.nsec);
00113       this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
00114       this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00115       this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00116       this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00117       offset += sizeof(this->duration.sec);
00118       this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
00119       this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00120       this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00121       this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00122       offset += sizeof(this->duration.nsec);
00123      return offset;
00124     }
00125 
00126     const char * getType(){ return APPLYJOINTEFFORT; };
00127     const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };
00128 
00129   };
00130 
00131   class ApplyJointEffortResponse : public ros::Msg
00132   {
00133     public:
00134       bool success;
00135       const char* status_message;
00136 
00137     ApplyJointEffortResponse():
00138       success(0),
00139       status_message("")
00140     {
00141     }
00142 
00143     virtual int serialize(unsigned char *outbuffer) const
00144     {
00145       int offset = 0;
00146       union {
00147         bool real;
00148         uint8_t base;
00149       } u_success;
00150       u_success.real = this->success;
00151       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00152       offset += sizeof(this->success);
00153       uint32_t length_status_message = strlen(this->status_message);
00154       memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00155       offset += 4;
00156       memcpy(outbuffer + offset, this->status_message, length_status_message);
00157       offset += length_status_message;
00158       return offset;
00159     }
00160 
00161     virtual int deserialize(unsigned char *inbuffer)
00162     {
00163       int offset = 0;
00164       union {
00165         bool real;
00166         uint8_t base;
00167       } u_success;
00168       u_success.base = 0;
00169       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00170       this->success = u_success.real;
00171       offset += sizeof(this->success);
00172       uint32_t length_status_message;
00173       memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00174       offset += 4;
00175       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00176           inbuffer[k-1]=inbuffer[k];
00177       }
00178       inbuffer[offset+length_status_message-1]=0;
00179       this->status_message = (char *)(inbuffer + offset-1);
00180       offset += length_status_message;
00181      return offset;
00182     }
00183 
00184     const char * getType(){ return APPLYJOINTEFFORT; };
00185     const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
00186 
00187   };
00188 
00189   class ApplyJointEffort {
00190     public:
00191     typedef ApplyJointEffortRequest Request;
00192     typedef ApplyJointEffortResponse Response;
00193   };
00194 
00195 }
00196 #endif