Gary Servin
ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
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GetLinkProperties.h
00001 #ifndef _ROS_SERVICE_GetLinkProperties_h 00002 #define _ROS_SERVICE_GetLinkProperties_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "geometry_msgs/Pose.h" 00008 00009 namespace gazebo_msgs 00010 { 00011 00012 static const char GETLINKPROPERTIES[] = "gazebo_msgs/GetLinkProperties"; 00013 00014 class GetLinkPropertiesRequest : public ros::Msg 00015 { 00016 public: 00017 const char* link_name; 00018 00019 GetLinkPropertiesRequest(): 00020 link_name("") 00021 { 00022 } 00023 00024 virtual int serialize(unsigned char *outbuffer) const 00025 { 00026 int offset = 0; 00027 uint32_t length_link_name = strlen(this->link_name); 00028 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t)); 00029 offset += 4; 00030 memcpy(outbuffer + offset, this->link_name, length_link_name); 00031 offset += length_link_name; 00032 return offset; 00033 } 00034 00035 virtual int deserialize(unsigned char *inbuffer) 00036 { 00037 int offset = 0; 00038 uint32_t length_link_name; 00039 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t)); 00040 offset += 4; 00041 for(unsigned int k= offset; k< offset+length_link_name; ++k){ 00042 inbuffer[k-1]=inbuffer[k]; 00043 } 00044 inbuffer[offset+length_link_name-1]=0; 00045 this->link_name = (char *)(inbuffer + offset-1); 00046 offset += length_link_name; 00047 return offset; 00048 } 00049 00050 const char * getType(){ return GETLINKPROPERTIES; }; 00051 const char * getMD5(){ return "7d82d60381f1b66a30f2157f60884345"; }; 00052 00053 }; 00054 00055 class GetLinkPropertiesResponse : public ros::Msg 00056 { 00057 public: 00058 geometry_msgs::Pose com; 00059 bool gravity_mode; 00060 double mass; 00061 double ixx; 00062 double ixy; 00063 double ixz; 00064 double iyy; 00065 double iyz; 00066 double izz; 00067 bool success; 00068 const char* status_message; 00069 00070 GetLinkPropertiesResponse(): 00071 com(), 00072 gravity_mode(0), 00073 mass(0), 00074 ixx(0), 00075 ixy(0), 00076 ixz(0), 00077 iyy(0), 00078 iyz(0), 00079 izz(0), 00080 success(0), 00081 status_message("") 00082 { 00083 } 00084 00085 virtual int serialize(unsigned char *outbuffer) const 00086 { 00087 int offset = 0; 00088 offset += this->com.serialize(outbuffer + offset); 00089 union { 00090 bool real; 00091 uint8_t base; 00092 } u_gravity_mode; 00093 u_gravity_mode.real = this->gravity_mode; 00094 *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF; 00095 offset += sizeof(this->gravity_mode); 00096 union { 00097 double real; 00098 uint64_t base; 00099 } u_mass; 00100 u_mass.real = this->mass; 00101 *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF; 00102 *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF; 00103 *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF; 00104 *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF; 00105 *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF; 00106 *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF; 00107 *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF; 00108 *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF; 00109 offset += sizeof(this->mass); 00110 union { 00111 double real; 00112 uint64_t base; 00113 } u_ixx; 00114 u_ixx.real = this->ixx; 00115 *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF; 00116 *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF; 00117 *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF; 00118 *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF; 00119 *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF; 00120 *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF; 00121 *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF; 00122 *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF; 00123 offset += sizeof(this->ixx); 00124 union { 00125 double real; 00126 uint64_t base; 00127 } u_ixy; 00128 u_ixy.real = this->ixy; 00129 *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF; 00130 *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF; 00131 *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF; 00132 *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF; 00133 *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF; 00134 *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF; 00135 *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF; 00136 *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF; 00137 offset += sizeof(this->ixy); 00138 union { 00139 double real; 00140 uint64_t base; 00141 } u_ixz; 00142 u_ixz.real = this->ixz; 00143 *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF; 00144 *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF; 00145 *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF; 00146 *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF; 00147 *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF; 00148 *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF; 00149 *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF; 00150 *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF; 00151 offset += sizeof(this->ixz); 00152 union { 00153 double real; 00154 uint64_t base; 00155 } u_iyy; 00156 u_iyy.real = this->iyy; 00157 *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF; 00158 *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF; 00159 *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF; 00160 *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF; 00161 *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF; 00162 *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF; 00163 *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF; 00164 *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF; 00165 offset += sizeof(this->iyy); 00166 union { 00167 double real; 00168 uint64_t base; 00169 } u_iyz; 00170 u_iyz.real = this->iyz; 00171 *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF; 00172 *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF; 00173 *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF; 00174 *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF; 00175 *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF; 00176 *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF; 00177 *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF; 00178 *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF; 00179 offset += sizeof(this->iyz); 00180 union { 00181 double real; 00182 uint64_t base; 00183 } u_izz; 00184 u_izz.real = this->izz; 00185 *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF; 00186 *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF; 00187 *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF; 00188 *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF; 00189 *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF; 00190 *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF; 00191 *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF; 00192 *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF; 00193 offset += sizeof(this->izz); 00194 union { 00195 bool real; 00196 uint8_t base; 00197 } u_success; 00198 u_success.real = this->success; 00199 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00200 offset += sizeof(this->success); 00201 uint32_t length_status_message = strlen(this->status_message); 00202 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t)); 00203 offset += 4; 00204 memcpy(outbuffer + offset, this->status_message, length_status_message); 00205 offset += length_status_message; 00206 return offset; 00207 } 00208 00209 virtual int deserialize(unsigned char *inbuffer) 00210 { 00211 int offset = 0; 00212 offset += this->com.deserialize(inbuffer + offset); 00213 union { 00214 bool real; 00215 uint8_t base; 00216 } u_gravity_mode; 00217 u_gravity_mode.base = 0; 00218 u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00219 this->gravity_mode = u_gravity_mode.real; 00220 offset += sizeof(this->gravity_mode); 00221 union { 00222 double real; 00223 uint64_t base; 00224 } u_mass; 00225 u_mass.base = 0; 00226 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00227 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00228 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00229 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00230 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00231 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00232 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00233 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00234 this->mass = u_mass.real; 00235 offset += sizeof(this->mass); 00236 union { 00237 double real; 00238 uint64_t base; 00239 } u_ixx; 00240 u_ixx.base = 0; 00241 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00242 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00243 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00244 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00245 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00246 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00247 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00248 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00249 this->ixx = u_ixx.real; 00250 offset += sizeof(this->ixx); 00251 union { 00252 double real; 00253 uint64_t base; 00254 } u_ixy; 00255 u_ixy.base = 0; 00256 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00257 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00258 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00259 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00260 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00261 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00262 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00263 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00264 this->ixy = u_ixy.real; 00265 offset += sizeof(this->ixy); 00266 union { 00267 double real; 00268 uint64_t base; 00269 } u_ixz; 00270 u_ixz.base = 0; 00271 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00272 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00273 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00274 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00275 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00276 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00277 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00278 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00279 this->ixz = u_ixz.real; 00280 offset += sizeof(this->ixz); 00281 union { 00282 double real; 00283 uint64_t base; 00284 } u_iyy; 00285 u_iyy.base = 0; 00286 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00287 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00288 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00289 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00290 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00291 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00292 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00293 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00294 this->iyy = u_iyy.real; 00295 offset += sizeof(this->iyy); 00296 union { 00297 double real; 00298 uint64_t base; 00299 } u_iyz; 00300 u_iyz.base = 0; 00301 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00302 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00303 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00304 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00305 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00306 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00307 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00308 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00309 this->iyz = u_iyz.real; 00310 offset += sizeof(this->iyz); 00311 union { 00312 double real; 00313 uint64_t base; 00314 } u_izz; 00315 u_izz.base = 0; 00316 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00317 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00318 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00319 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00320 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00321 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00322 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00323 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00324 this->izz = u_izz.real; 00325 offset += sizeof(this->izz); 00326 union { 00327 bool real; 00328 uint8_t base; 00329 } u_success; 00330 u_success.base = 0; 00331 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00332 this->success = u_success.real; 00333 offset += sizeof(this->success); 00334 uint32_t length_status_message; 00335 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t)); 00336 offset += 4; 00337 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00338 inbuffer[k-1]=inbuffer[k]; 00339 } 00340 inbuffer[offset+length_status_message-1]=0; 00341 this->status_message = (char *)(inbuffer + offset-1); 00342 offset += length_status_message; 00343 return offset; 00344 } 00345 00346 const char * getType(){ return GETLINKPROPERTIES; }; 00347 const char * getMD5(){ return "a8619f92d17cfcc3958c0fd13299443d"; }; 00348 00349 }; 00350 00351 class GetLinkProperties { 00352 public: 00353 typedef GetLinkPropertiesRequest Request; 00354 typedef GetLinkPropertiesResponse Response; 00355 }; 00356 00357 } 00358 #endif
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