GetLinkState.h

00001 #ifndef _ROS_SERVICE_GetLinkState_h
00002 #define _ROS_SERVICE_GetLinkState_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "gazebo_msgs/LinkState.h"
00008 
00009 namespace gazebo_msgs
00010 {
00011 
00012 static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
00013 
00014   class GetLinkStateRequest : public ros::Msg
00015   {
00016     public:
00017       const char* link_name;
00018       const char* reference_frame;
00019 
00020     GetLinkStateRequest():
00021       link_name(""),
00022       reference_frame("")
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       uint32_t length_link_name = strlen(this->link_name);
00030       memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
00031       offset += 4;
00032       memcpy(outbuffer + offset, this->link_name, length_link_name);
00033       offset += length_link_name;
00034       uint32_t length_reference_frame = strlen(this->reference_frame);
00035       memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
00036       offset += 4;
00037       memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
00038       offset += length_reference_frame;
00039       return offset;
00040     }
00041 
00042     virtual int deserialize(unsigned char *inbuffer)
00043     {
00044       int offset = 0;
00045       uint32_t length_link_name;
00046       memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
00047       offset += 4;
00048       for(unsigned int k= offset; k< offset+length_link_name; ++k){
00049           inbuffer[k-1]=inbuffer[k];
00050       }
00051       inbuffer[offset+length_link_name-1]=0;
00052       this->link_name = (char *)(inbuffer + offset-1);
00053       offset += length_link_name;
00054       uint32_t length_reference_frame;
00055       memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
00056       offset += 4;
00057       for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
00058           inbuffer[k-1]=inbuffer[k];
00059       }
00060       inbuffer[offset+length_reference_frame-1]=0;
00061       this->reference_frame = (char *)(inbuffer + offset-1);
00062       offset += length_reference_frame;
00063      return offset;
00064     }
00065 
00066     const char * getType(){ return GETLINKSTATE; };
00067     const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
00068 
00069   };
00070 
00071   class GetLinkStateResponse : public ros::Msg
00072   {
00073     public:
00074       gazebo_msgs::LinkState link_state;
00075       bool success;
00076       const char* status_message;
00077 
00078     GetLinkStateResponse():
00079       link_state(),
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->link_state.serialize(outbuffer + offset);
00089       union {
00090         bool real;
00091         uint8_t base;
00092       } u_success;
00093       u_success.real = this->success;
00094       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00095       offset += sizeof(this->success);
00096       uint32_t length_status_message = strlen(this->status_message);
00097       memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00098       offset += 4;
00099       memcpy(outbuffer + offset, this->status_message, length_status_message);
00100       offset += length_status_message;
00101       return offset;
00102     }
00103 
00104     virtual int deserialize(unsigned char *inbuffer)
00105     {
00106       int offset = 0;
00107       offset += this->link_state.deserialize(inbuffer + offset);
00108       union {
00109         bool real;
00110         uint8_t base;
00111       } u_success;
00112       u_success.base = 0;
00113       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00114       this->success = u_success.real;
00115       offset += sizeof(this->success);
00116       uint32_t length_status_message;
00117       memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00118       offset += 4;
00119       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00120           inbuffer[k-1]=inbuffer[k];
00121       }
00122       inbuffer[offset+length_status_message-1]=0;
00123       this->status_message = (char *)(inbuffer + offset-1);
00124       offset += length_status_message;
00125      return offset;
00126     }
00127 
00128     const char * getType(){ return GETLINKSTATE; };
00129     const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
00130 
00131   };
00132 
00133   class GetLinkState {
00134     public:
00135     typedef GetLinkStateRequest Request;
00136     typedef GetLinkStateResponse Response;
00137   };
00138 
00139 }
00140 #endif