John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

gazebo_msgs/ApplyBodyWrench.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_ApplyBodyWrench_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_ApplyBodyWrench_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/Wrench.h"
Gary Servin 0:04ac6be8229a 9 #include "ros/time.h"
Gary Servin 0:04ac6be8229a 10 #include "geometry_msgs/Point.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
Gary Servin 0:04ac6be8229a 16
Gary Servin 0:04ac6be8229a 17 class ApplyBodyWrenchRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 18 {
Gary Servin 0:04ac6be8229a 19 public:
Gary Servin 0:04ac6be8229a 20 typedef const char* _body_name_type;
Gary Servin 0:04ac6be8229a 21 _body_name_type body_name;
Gary Servin 0:04ac6be8229a 22 typedef const char* _reference_frame_type;
Gary Servin 0:04ac6be8229a 23 _reference_frame_type reference_frame;
Gary Servin 0:04ac6be8229a 24 typedef geometry_msgs::Point _reference_point_type;
Gary Servin 0:04ac6be8229a 25 _reference_point_type reference_point;
Gary Servin 0:04ac6be8229a 26 typedef geometry_msgs::Wrench _wrench_type;
Gary Servin 0:04ac6be8229a 27 _wrench_type wrench;
Gary Servin 0:04ac6be8229a 28 typedef ros::Time _start_time_type;
Gary Servin 0:04ac6be8229a 29 _start_time_type start_time;
Gary Servin 0:04ac6be8229a 30 typedef ros::Duration _duration_type;
Gary Servin 0:04ac6be8229a 31 _duration_type duration;
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 ApplyBodyWrenchRequest():
Gary Servin 0:04ac6be8229a 34 body_name(""),
Gary Servin 0:04ac6be8229a 35 reference_frame(""),
Gary Servin 0:04ac6be8229a 36 reference_point(),
Gary Servin 0:04ac6be8229a 37 wrench(),
Gary Servin 0:04ac6be8229a 38 start_time(),
Gary Servin 0:04ac6be8229a 39 duration()
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 }
Gary Servin 0:04ac6be8229a 42
Gary Servin 0:04ac6be8229a 43 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 44 {
Gary Servin 0:04ac6be8229a 45 int offset = 0;
Gary Servin 0:04ac6be8229a 46 uint32_t length_body_name = strlen(this->body_name);
Gary Servin 0:04ac6be8229a 47 varToArr(outbuffer + offset, length_body_name);
Gary Servin 0:04ac6be8229a 48 offset += 4;
Gary Servin 0:04ac6be8229a 49 memcpy(outbuffer + offset, this->body_name, length_body_name);
Gary Servin 0:04ac6be8229a 50 offset += length_body_name;
Gary Servin 0:04ac6be8229a 51 uint32_t length_reference_frame = strlen(this->reference_frame);
Gary Servin 0:04ac6be8229a 52 varToArr(outbuffer + offset, length_reference_frame);
Gary Servin 0:04ac6be8229a 53 offset += 4;
Gary Servin 0:04ac6be8229a 54 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
Gary Servin 0:04ac6be8229a 55 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 56 offset += this->reference_point.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 57 offset += this->wrench.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 offset += sizeof(this->start_time.sec);
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->start_time.nsec);
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 offset += sizeof(this->duration.sec);
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->duration.nsec);
Gary Servin 0:04ac6be8229a 78 return offset;
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80
Gary Servin 0:04ac6be8229a 81 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 82 {
Gary Servin 0:04ac6be8229a 83 int offset = 0;
Gary Servin 0:04ac6be8229a 84 uint32_t length_body_name;
Gary Servin 0:04ac6be8229a 85 arrToVar(length_body_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 86 offset += 4;
Gary Servin 0:04ac6be8229a 87 for(unsigned int k= offset; k< offset+length_body_name; ++k){
Gary Servin 0:04ac6be8229a 88 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 89 }
Gary Servin 0:04ac6be8229a 90 inbuffer[offset+length_body_name-1]=0;
Gary Servin 0:04ac6be8229a 91 this->body_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 92 offset += length_body_name;
Gary Servin 0:04ac6be8229a 93 uint32_t length_reference_frame;
Gary Servin 0:04ac6be8229a 94 arrToVar(length_reference_frame, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 95 offset += 4;
Gary Servin 0:04ac6be8229a 96 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
Gary Servin 0:04ac6be8229a 97 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 98 }
Gary Servin 0:04ac6be8229a 99 inbuffer[offset+length_reference_frame-1]=0;
Gary Servin 0:04ac6be8229a 100 this->reference_frame = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 101 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 102 offset += this->reference_point.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 103 offset += this->wrench.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 104 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 105 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 106 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 107 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 108 offset += sizeof(this->start_time.sec);
Gary Servin 0:04ac6be8229a 109 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 110 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 111 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 112 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 113 offset += sizeof(this->start_time.nsec);
Gary Servin 0:04ac6be8229a 114 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 115 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 116 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 117 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 118 offset += sizeof(this->duration.sec);
Gary Servin 0:04ac6be8229a 119 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 120 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 121 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 122 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 123 offset += sizeof(this->duration.nsec);
Gary Servin 0:04ac6be8229a 124 return offset;
Gary Servin 0:04ac6be8229a 125 }
Gary Servin 0:04ac6be8229a 126
Gary Servin 0:04ac6be8229a 127 const char * getType(){ return APPLYBODYWRENCH; };
Gary Servin 0:04ac6be8229a 128 const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
Gary Servin 0:04ac6be8229a 129
Gary Servin 0:04ac6be8229a 130 };
Gary Servin 0:04ac6be8229a 131
Gary Servin 0:04ac6be8229a 132 class ApplyBodyWrenchResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 133 {
Gary Servin 0:04ac6be8229a 134 public:
Gary Servin 0:04ac6be8229a 135 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 136 _success_type success;
Gary Servin 0:04ac6be8229a 137 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 138 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 139
Gary Servin 0:04ac6be8229a 140 ApplyBodyWrenchResponse():
Gary Servin 0:04ac6be8229a 141 success(0),
Gary Servin 0:04ac6be8229a 142 status_message("")
Gary Servin 0:04ac6be8229a 143 {
Gary Servin 0:04ac6be8229a 144 }
Gary Servin 0:04ac6be8229a 145
Gary Servin 0:04ac6be8229a 146 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 147 {
Gary Servin 0:04ac6be8229a 148 int offset = 0;
Gary Servin 0:04ac6be8229a 149 union {
Gary Servin 0:04ac6be8229a 150 bool real;
Gary Servin 0:04ac6be8229a 151 uint8_t base;
Gary Servin 0:04ac6be8229a 152 } u_success;
Gary Servin 0:04ac6be8229a 153 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 154 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 155 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 156 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 157 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 158 offset += 4;
Gary Servin 0:04ac6be8229a 159 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 160 offset += length_status_message;
Gary Servin 0:04ac6be8229a 161 return offset;
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163
Gary Servin 0:04ac6be8229a 164 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 165 {
Gary Servin 0:04ac6be8229a 166 int offset = 0;
Gary Servin 0:04ac6be8229a 167 union {
Gary Servin 0:04ac6be8229a 168 bool real;
Gary Servin 0:04ac6be8229a 169 uint8_t base;
Gary Servin 0:04ac6be8229a 170 } u_success;
Gary Servin 0:04ac6be8229a 171 u_success.base = 0;
Gary Servin 0:04ac6be8229a 172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 173 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 174 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 175 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 176 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 177 offset += 4;
Gary Servin 0:04ac6be8229a 178 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 179 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 180 }
Gary Servin 0:04ac6be8229a 181 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 182 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 183 offset += length_status_message;
Gary Servin 0:04ac6be8229a 184 return offset;
Gary Servin 0:04ac6be8229a 185 }
Gary Servin 0:04ac6be8229a 186
Gary Servin 0:04ac6be8229a 187 const char * getType(){ return APPLYBODYWRENCH; };
Gary Servin 0:04ac6be8229a 188 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 189
Gary Servin 0:04ac6be8229a 190 };
Gary Servin 0:04ac6be8229a 191
Gary Servin 0:04ac6be8229a 192 class ApplyBodyWrench {
Gary Servin 0:04ac6be8229a 193 public:
Gary Servin 0:04ac6be8229a 194 typedef ApplyBodyWrenchRequest Request;
Gary Servin 0:04ac6be8229a 195 typedef ApplyBodyWrenchResponse Response;
Gary Servin 0:04ac6be8229a 196 };
Gary Servin 0:04ac6be8229a 197
Gary Servin 0:04ac6be8229a 198 }
Gary Servin 0:04ac6be8229a 199 #endif