John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

gazebo_msgs/GetLinkState.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_GetLinkState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_GetLinkState_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 "gazebo_msgs/LinkState.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class GetLinkStateRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef const char* _link_name_type;
Gary Servin 0:04ac6be8229a 18 _link_name_type link_name;
Gary Servin 0:04ac6be8229a 19 typedef const char* _reference_frame_type;
Gary Servin 0:04ac6be8229a 20 _reference_frame_type reference_frame;
Gary Servin 0:04ac6be8229a 21
Gary Servin 0:04ac6be8229a 22 GetLinkStateRequest():
Gary Servin 0:04ac6be8229a 23 link_name(""),
Gary Servin 0:04ac6be8229a 24 reference_frame("")
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 }
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 int offset = 0;
Gary Servin 0:04ac6be8229a 31 uint32_t length_link_name = strlen(this->link_name);
Gary Servin 0:04ac6be8229a 32 varToArr(outbuffer + offset, length_link_name);
Gary Servin 0:04ac6be8229a 33 offset += 4;
Gary Servin 0:04ac6be8229a 34 memcpy(outbuffer + offset, this->link_name, length_link_name);
Gary Servin 0:04ac6be8229a 35 offset += length_link_name;
Gary Servin 0:04ac6be8229a 36 uint32_t length_reference_frame = strlen(this->reference_frame);
Gary Servin 0:04ac6be8229a 37 varToArr(outbuffer + offset, length_reference_frame);
Gary Servin 0:04ac6be8229a 38 offset += 4;
Gary Servin 0:04ac6be8229a 39 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
Gary Servin 0:04ac6be8229a 40 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 41 return offset;
Gary Servin 0:04ac6be8229a 42 }
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 int offset = 0;
Gary Servin 0:04ac6be8229a 47 uint32_t length_link_name;
Gary Servin 0:04ac6be8229a 48 arrToVar(length_link_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 49 offset += 4;
Gary Servin 0:04ac6be8229a 50 for(unsigned int k= offset; k< offset+length_link_name; ++k){
Gary Servin 0:04ac6be8229a 51 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53 inbuffer[offset+length_link_name-1]=0;
Gary Servin 0:04ac6be8229a 54 this->link_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 55 offset += length_link_name;
Gary Servin 0:04ac6be8229a 56 uint32_t length_reference_frame;
Gary Servin 0:04ac6be8229a 57 arrToVar(length_reference_frame, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 58 offset += 4;
Gary Servin 0:04ac6be8229a 59 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
Gary Servin 0:04ac6be8229a 60 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62 inbuffer[offset+length_reference_frame-1]=0;
Gary Servin 0:04ac6be8229a 63 this->reference_frame = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 64 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 65 return offset;
Gary Servin 0:04ac6be8229a 66 }
Gary Servin 0:04ac6be8229a 67
Gary Servin 0:04ac6be8229a 68 const char * getType(){ return GETLINKSTATE; };
Gary Servin 0:04ac6be8229a 69 const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 };
Gary Servin 0:04ac6be8229a 72
Gary Servin 0:04ac6be8229a 73 class GetLinkStateResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 74 {
Gary Servin 0:04ac6be8229a 75 public:
Gary Servin 0:04ac6be8229a 76 typedef gazebo_msgs::LinkState _link_state_type;
Gary Servin 0:04ac6be8229a 77 _link_state_type link_state;
Gary Servin 0:04ac6be8229a 78 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 79 _success_type success;
Gary Servin 0:04ac6be8229a 80 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 81 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 82
Gary Servin 0:04ac6be8229a 83 GetLinkStateResponse():
Gary Servin 0:04ac6be8229a 84 link_state(),
Gary Servin 0:04ac6be8229a 85 success(0),
Gary Servin 0:04ac6be8229a 86 status_message("")
Gary Servin 0:04ac6be8229a 87 {
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89
Gary Servin 0:04ac6be8229a 90 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 91 {
Gary Servin 0:04ac6be8229a 92 int offset = 0;
Gary Servin 0:04ac6be8229a 93 offset += this->link_state.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 94 union {
Gary Servin 0:04ac6be8229a 95 bool real;
Gary Servin 0:04ac6be8229a 96 uint8_t base;
Gary Servin 0:04ac6be8229a 97 } u_success;
Gary Servin 0:04ac6be8229a 98 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 101 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 102 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 103 offset += 4;
Gary Servin 0:04ac6be8229a 104 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 105 offset += length_status_message;
Gary Servin 0:04ac6be8229a 106 return offset;
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108
Gary Servin 0:04ac6be8229a 109 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 110 {
Gary Servin 0:04ac6be8229a 111 int offset = 0;
Gary Servin 0:04ac6be8229a 112 offset += this->link_state.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 113 union {
Gary Servin 0:04ac6be8229a 114 bool real;
Gary Servin 0:04ac6be8229a 115 uint8_t base;
Gary Servin 0:04ac6be8229a 116 } u_success;
Gary Servin 0:04ac6be8229a 117 u_success.base = 0;
Gary Servin 0:04ac6be8229a 118 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 119 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 120 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 121 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 122 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 123 offset += 4;
Gary Servin 0:04ac6be8229a 124 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 125 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 128 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 129 offset += length_status_message;
Gary Servin 0:04ac6be8229a 130 return offset;
Gary Servin 0:04ac6be8229a 131 }
Gary Servin 0:04ac6be8229a 132
Gary Servin 0:04ac6be8229a 133 const char * getType(){ return GETLINKSTATE; };
Gary Servin 0:04ac6be8229a 134 const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
Gary Servin 0:04ac6be8229a 135
Gary Servin 0:04ac6be8229a 136 };
Gary Servin 0:04ac6be8229a 137
Gary Servin 0:04ac6be8229a 138 class GetLinkState {
Gary Servin 0:04ac6be8229a 139 public:
Gary Servin 0:04ac6be8229a 140 typedef GetLinkStateRequest Request;
Gary Servin 0:04ac6be8229a 141 typedef GetLinkStateResponse Response;
Gary Servin 0:04ac6be8229a 142 };
Gary Servin 0:04ac6be8229a 143
Gary Servin 0:04ac6be8229a 144 }
Gary Servin 0:04ac6be8229a 145 #endif