John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

gazebo_msgs/GetPhysicsProperties.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_GetPhysicsProperties_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_GetPhysicsProperties_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 "geometry_msgs/Vector3.h"
Gary Servin 0:04ac6be8229a 8 #include "gazebo_msgs/ODEPhysics.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class GetPhysicsPropertiesRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 GetPhysicsPropertiesRequest()
Gary Servin 0:04ac6be8229a 20 {
Gary Servin 0:04ac6be8229a 21 }
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 24 {
Gary Servin 0:04ac6be8229a 25 int offset = 0;
Gary Servin 0:04ac6be8229a 26 return offset;
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 int offset = 0;
Gary Servin 0:04ac6be8229a 32 return offset;
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 const char * getType(){ return GETPHYSICSPROPERTIES; };
Gary Servin 0:04ac6be8229a 36 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 };
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 class GetPhysicsPropertiesResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 public:
Gary Servin 0:04ac6be8229a 43 typedef double _time_step_type;
Gary Servin 0:04ac6be8229a 44 _time_step_type time_step;
Gary Servin 0:04ac6be8229a 45 typedef bool _pause_type;
Gary Servin 0:04ac6be8229a 46 _pause_type pause;
Gary Servin 0:04ac6be8229a 47 typedef double _max_update_rate_type;
Gary Servin 0:04ac6be8229a 48 _max_update_rate_type max_update_rate;
Gary Servin 0:04ac6be8229a 49 typedef geometry_msgs::Vector3 _gravity_type;
Gary Servin 0:04ac6be8229a 50 _gravity_type gravity;
Gary Servin 0:04ac6be8229a 51 typedef gazebo_msgs::ODEPhysics _ode_config_type;
Gary Servin 0:04ac6be8229a 52 _ode_config_type ode_config;
Gary Servin 0:04ac6be8229a 53 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 54 _success_type success;
Gary Servin 0:04ac6be8229a 55 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 56 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 57
Gary Servin 0:04ac6be8229a 58 GetPhysicsPropertiesResponse():
Gary Servin 0:04ac6be8229a 59 time_step(0),
Gary Servin 0:04ac6be8229a 60 pause(0),
Gary Servin 0:04ac6be8229a 61 max_update_rate(0),
Gary Servin 0:04ac6be8229a 62 gravity(),
Gary Servin 0:04ac6be8229a 63 ode_config(),
Gary Servin 0:04ac6be8229a 64 success(0),
Gary Servin 0:04ac6be8229a 65 status_message("")
Gary Servin 0:04ac6be8229a 66 {
Gary Servin 0:04ac6be8229a 67 }
Gary Servin 0:04ac6be8229a 68
Gary Servin 0:04ac6be8229a 69 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 70 {
Gary Servin 0:04ac6be8229a 71 int offset = 0;
Gary Servin 0:04ac6be8229a 72 union {
Gary Servin 0:04ac6be8229a 73 double real;
Gary Servin 0:04ac6be8229a 74 uint64_t base;
Gary Servin 0:04ac6be8229a 75 } u_time_step;
Gary Servin 0:04ac6be8229a 76 u_time_step.real = this->time_step;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 81 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 82 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 offset += sizeof(this->time_step);
Gary Servin 0:04ac6be8229a 86 union {
Gary Servin 0:04ac6be8229a 87 bool real;
Gary Servin 0:04ac6be8229a 88 uint8_t base;
Gary Servin 0:04ac6be8229a 89 } u_pause;
Gary Servin 0:04ac6be8229a 90 u_pause.real = this->pause;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->pause);
Gary Servin 0:04ac6be8229a 93 union {
Gary Servin 0:04ac6be8229a 94 double real;
Gary Servin 0:04ac6be8229a 95 uint64_t base;
Gary Servin 0:04ac6be8229a 96 } u_max_update_rate;
Gary Servin 0:04ac6be8229a 97 u_max_update_rate.real = this->max_update_rate;
Gary Servin 0:04ac6be8229a 98 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 102 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 103 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 104 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 105 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 106 offset += sizeof(this->max_update_rate);
Gary Servin 0:04ac6be8229a 107 offset += this->gravity.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 108 offset += this->ode_config.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 109 union {
Gary Servin 0:04ac6be8229a 110 bool real;
Gary Servin 0:04ac6be8229a 111 uint8_t base;
Gary Servin 0:04ac6be8229a 112 } u_success;
Gary Servin 0:04ac6be8229a 113 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 114 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 115 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 116 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 117 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 118 offset += 4;
Gary Servin 0:04ac6be8229a 119 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 120 offset += length_status_message;
Gary Servin 0:04ac6be8229a 121 return offset;
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123
Gary Servin 0:04ac6be8229a 124 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 125 {
Gary Servin 0:04ac6be8229a 126 int offset = 0;
Gary Servin 0:04ac6be8229a 127 union {
Gary Servin 0:04ac6be8229a 128 double real;
Gary Servin 0:04ac6be8229a 129 uint64_t base;
Gary Servin 0:04ac6be8229a 130 } u_time_step;
Gary Servin 0:04ac6be8229a 131 u_time_step.base = 0;
Gary Servin 0:04ac6be8229a 132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 133 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 134 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 135 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 136 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 137 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 138 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 139 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 140 this->time_step = u_time_step.real;
Gary Servin 0:04ac6be8229a 141 offset += sizeof(this->time_step);
Gary Servin 0:04ac6be8229a 142 union {
Gary Servin 0:04ac6be8229a 143 bool real;
Gary Servin 0:04ac6be8229a 144 uint8_t base;
Gary Servin 0:04ac6be8229a 145 } u_pause;
Gary Servin 0:04ac6be8229a 146 u_pause.base = 0;
Gary Servin 0:04ac6be8229a 147 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 148 this->pause = u_pause.real;
Gary Servin 0:04ac6be8229a 149 offset += sizeof(this->pause);
Gary Servin 0:04ac6be8229a 150 union {
Gary Servin 0:04ac6be8229a 151 double real;
Gary Servin 0:04ac6be8229a 152 uint64_t base;
Gary Servin 0:04ac6be8229a 153 } u_max_update_rate;
Gary Servin 0:04ac6be8229a 154 u_max_update_rate.base = 0;
Gary Servin 0:04ac6be8229a 155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 156 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 157 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 158 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 159 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 160 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 161 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 162 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 163 this->max_update_rate = u_max_update_rate.real;
Gary Servin 0:04ac6be8229a 164 offset += sizeof(this->max_update_rate);
Gary Servin 0:04ac6be8229a 165 offset += this->gravity.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 166 offset += this->ode_config.deserialize(inbuffer + offset);
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 GETPHYSICSPROPERTIES; };
Gary Servin 0:04ac6be8229a 188 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
Gary Servin 0:04ac6be8229a 189
Gary Servin 0:04ac6be8229a 190 };
Gary Servin 0:04ac6be8229a 191
Gary Servin 0:04ac6be8229a 192 class GetPhysicsProperties {
Gary Servin 0:04ac6be8229a 193 public:
Gary Servin 0:04ac6be8229a 194 typedef GetPhysicsPropertiesRequest Request;
Gary Servin 0:04ac6be8229a 195 typedef GetPhysicsPropertiesResponse Response;
Gary Servin 0:04ac6be8229a 196 };
Gary Servin 0:04ac6be8229a 197
Gary Servin 0:04ac6be8229a 198 }
Gary Servin 0:04ac6be8229a 199 #endif