Gary Servin
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ros_lib_indigo
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Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
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SetModelConfiguration.h
00001 #ifndef _ROS_SERVICE_SetModelConfiguration_h 00002 #define _ROS_SERVICE_SetModelConfiguration_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 00008 namespace gazebo_msgs 00009 { 00010 00011 static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration"; 00012 00013 class SetModelConfigurationRequest : public ros::Msg 00014 { 00015 public: 00016 const char* model_name; 00017 const char* urdf_param_name; 00018 uint8_t joint_names_length; 00019 char* st_joint_names; 00020 char* * joint_names; 00021 uint8_t joint_positions_length; 00022 double st_joint_positions; 00023 double * joint_positions; 00024 00025 SetModelConfigurationRequest(): 00026 model_name(""), 00027 urdf_param_name(""), 00028 joint_names_length(0), joint_names(NULL), 00029 joint_positions_length(0), joint_positions(NULL) 00030 { 00031 } 00032 00033 virtual int serialize(unsigned char *outbuffer) const 00034 { 00035 int offset = 0; 00036 uint32_t length_model_name = strlen(this->model_name); 00037 memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t)); 00038 offset += 4; 00039 memcpy(outbuffer + offset, this->model_name, length_model_name); 00040 offset += length_model_name; 00041 uint32_t length_urdf_param_name = strlen(this->urdf_param_name); 00042 memcpy(outbuffer + offset, &length_urdf_param_name, sizeof(uint32_t)); 00043 offset += 4; 00044 memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); 00045 offset += length_urdf_param_name; 00046 *(outbuffer + offset++) = joint_names_length; 00047 *(outbuffer + offset++) = 0; 00048 *(outbuffer + offset++) = 0; 00049 *(outbuffer + offset++) = 0; 00050 for( uint8_t i = 0; i < joint_names_length; i++){ 00051 uint32_t length_joint_namesi = strlen(this->joint_names[i]); 00052 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t)); 00053 offset += 4; 00054 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); 00055 offset += length_joint_namesi; 00056 } 00057 *(outbuffer + offset++) = joint_positions_length; 00058 *(outbuffer + offset++) = 0; 00059 *(outbuffer + offset++) = 0; 00060 *(outbuffer + offset++) = 0; 00061 for( uint8_t i = 0; i < joint_positions_length; i++){ 00062 union { 00063 double real; 00064 uint64_t base; 00065 } u_joint_positionsi; 00066 u_joint_positionsi.real = this->joint_positions[i]; 00067 *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF; 00068 *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF; 00069 *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF; 00070 *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF; 00071 *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF; 00072 *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF; 00073 *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF; 00074 *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF; 00075 offset += sizeof(this->joint_positions[i]); 00076 } 00077 return offset; 00078 } 00079 00080 virtual int deserialize(unsigned char *inbuffer) 00081 { 00082 int offset = 0; 00083 uint32_t length_model_name; 00084 memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t)); 00085 offset += 4; 00086 for(unsigned int k= offset; k< offset+length_model_name; ++k){ 00087 inbuffer[k-1]=inbuffer[k]; 00088 } 00089 inbuffer[offset+length_model_name-1]=0; 00090 this->model_name = (char *)(inbuffer + offset-1); 00091 offset += length_model_name; 00092 uint32_t length_urdf_param_name; 00093 memcpy(&length_urdf_param_name, (inbuffer + offset), sizeof(uint32_t)); 00094 offset += 4; 00095 for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){ 00096 inbuffer[k-1]=inbuffer[k]; 00097 } 00098 inbuffer[offset+length_urdf_param_name-1]=0; 00099 this->urdf_param_name = (char *)(inbuffer + offset-1); 00100 offset += length_urdf_param_name; 00101 uint8_t joint_names_lengthT = *(inbuffer + offset++); 00102 if(joint_names_lengthT > joint_names_length) 00103 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); 00104 offset += 3; 00105 joint_names_length = joint_names_lengthT; 00106 for( uint8_t i = 0; i < joint_names_length; i++){ 00107 uint32_t length_st_joint_names; 00108 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t)); 00109 offset += 4; 00110 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ 00111 inbuffer[k-1]=inbuffer[k]; 00112 } 00113 inbuffer[offset+length_st_joint_names-1]=0; 00114 this->st_joint_names = (char *)(inbuffer + offset-1); 00115 offset += length_st_joint_names; 00116 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); 00117 } 00118 uint8_t joint_positions_lengthT = *(inbuffer + offset++); 00119 if(joint_positions_lengthT > joint_positions_length) 00120 this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double)); 00121 offset += 3; 00122 joint_positions_length = joint_positions_lengthT; 00123 for( uint8_t i = 0; i < joint_positions_length; i++){ 00124 union { 00125 double real; 00126 uint64_t base; 00127 } u_st_joint_positions; 00128 u_st_joint_positions.base = 0; 00129 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00130 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00131 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00132 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00133 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00134 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00135 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00136 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00137 this->st_joint_positions = u_st_joint_positions.real; 00138 offset += sizeof(this->st_joint_positions); 00139 memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double)); 00140 } 00141 return offset; 00142 } 00143 00144 const char * getType(){ return SETMODELCONFIGURATION; }; 00145 const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; 00146 00147 }; 00148 00149 class SetModelConfigurationResponse : public ros::Msg 00150 { 00151 public: 00152 bool success; 00153 const char* status_message; 00154 00155 SetModelConfigurationResponse(): 00156 success(0), 00157 status_message("") 00158 { 00159 } 00160 00161 virtual int serialize(unsigned char *outbuffer) const 00162 { 00163 int offset = 0; 00164 union { 00165 bool real; 00166 uint8_t base; 00167 } u_success; 00168 u_success.real = this->success; 00169 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00170 offset += sizeof(this->success); 00171 uint32_t length_status_message = strlen(this->status_message); 00172 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t)); 00173 offset += 4; 00174 memcpy(outbuffer + offset, this->status_message, length_status_message); 00175 offset += length_status_message; 00176 return offset; 00177 } 00178 00179 virtual int deserialize(unsigned char *inbuffer) 00180 { 00181 int offset = 0; 00182 union { 00183 bool real; 00184 uint8_t base; 00185 } u_success; 00186 u_success.base = 0; 00187 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00188 this->success = u_success.real; 00189 offset += sizeof(this->success); 00190 uint32_t length_status_message; 00191 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t)); 00192 offset += 4; 00193 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00194 inbuffer[k-1]=inbuffer[k]; 00195 } 00196 inbuffer[offset+length_status_message-1]=0; 00197 this->status_message = (char *)(inbuffer + offset-1); 00198 offset += length_status_message; 00199 return offset; 00200 } 00201 00202 const char * getType(){ return SETMODELCONFIGURATION; }; 00203 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; 00204 00205 }; 00206 00207 class SetModelConfiguration { 00208 public: 00209 typedef SetModelConfigurationRequest Request; 00210 typedef SetModelConfigurationResponse Response; 00211 }; 00212 00213 } 00214 #endif
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