John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

gazebo_msgs/SetModelState.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_SetModelState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetModelState_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/ModelState.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 SETMODELSTATE[] = "gazebo_msgs/SetModelState";
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class SetModelStateRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef gazebo_msgs::ModelState _model_state_type;
Gary Servin 0:04ac6be8229a 18 _model_state_type model_state;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 SetModelStateRequest():
Gary Servin 0:04ac6be8229a 21 model_state()
Gary Servin 0:04ac6be8229a 22 {
Gary Servin 0:04ac6be8229a 23 }
Gary Servin 0:04ac6be8229a 24
Gary Servin 0:04ac6be8229a 25 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 int offset = 0;
Gary Servin 0:04ac6be8229a 28 offset += this->model_state.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 29 return offset;
Gary Servin 0:04ac6be8229a 30 }
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 int offset = 0;
Gary Servin 0:04ac6be8229a 35 offset += this->model_state.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 36 return offset;
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 const char * getType(){ return SETMODELSTATE; };
Gary Servin 0:04ac6be8229a 40 const char * getMD5(){ return "cb042b0e91880f4661b29ea5b6234350"; };
Gary Servin 0:04ac6be8229a 41
Gary Servin 0:04ac6be8229a 42 };
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 class SetModelStateResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 public:
Gary Servin 0:04ac6be8229a 47 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 48 _success_type success;
Gary Servin 0:04ac6be8229a 49 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 50 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 51
Gary Servin 0:04ac6be8229a 52 SetModelStateResponse():
Gary Servin 0:04ac6be8229a 53 success(0),
Gary Servin 0:04ac6be8229a 54 status_message("")
Gary Servin 0:04ac6be8229a 55 {
Gary Servin 0:04ac6be8229a 56 }
Gary Servin 0:04ac6be8229a 57
Gary Servin 0:04ac6be8229a 58 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 59 {
Gary Servin 0:04ac6be8229a 60 int offset = 0;
Gary Servin 0:04ac6be8229a 61 union {
Gary Servin 0:04ac6be8229a 62 bool real;
Gary Servin 0:04ac6be8229a 63 uint8_t base;
Gary Servin 0:04ac6be8229a 64 } u_success;
Gary Servin 0:04ac6be8229a 65 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 68 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 69 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 70 offset += 4;
Gary Servin 0:04ac6be8229a 71 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 72 offset += length_status_message;
Gary Servin 0:04ac6be8229a 73 return offset;
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 77 {
Gary Servin 0:04ac6be8229a 78 int offset = 0;
Gary Servin 0:04ac6be8229a 79 union {
Gary Servin 0:04ac6be8229a 80 bool real;
Gary Servin 0:04ac6be8229a 81 uint8_t base;
Gary Servin 0:04ac6be8229a 82 } u_success;
Gary Servin 0:04ac6be8229a 83 u_success.base = 0;
Gary Servin 0:04ac6be8229a 84 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 85 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 86 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 87 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 88 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 89 offset += 4;
Gary Servin 0:04ac6be8229a 90 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 91 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 92 }
Gary Servin 0:04ac6be8229a 93 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 94 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 95 offset += length_status_message;
Gary Servin 0:04ac6be8229a 96 return offset;
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 const char * getType(){ return SETMODELSTATE; };
Gary Servin 0:04ac6be8229a 100 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 101
Gary Servin 0:04ac6be8229a 102 };
Gary Servin 0:04ac6be8229a 103
Gary Servin 0:04ac6be8229a 104 class SetModelState {
Gary Servin 0:04ac6be8229a 105 public:
Gary Servin 0:04ac6be8229a 106 typedef SetModelStateRequest Request;
Gary Servin 0:04ac6be8229a 107 typedef SetModelStateResponse Response;
Gary Servin 0:04ac6be8229a 108 };
Gary Servin 0:04ac6be8229a 109
Gary Servin 0:04ac6be8229a 110 }
Gary Servin 0:04ac6be8229a 111 #endif