John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

gazebo_msgs/SetPhysicsProperties.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_SetPhysicsProperties_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetPhysicsProperties_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 SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class SetPhysicsPropertiesRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef double _time_step_type;
Gary Servin 0:04ac6be8229a 19 _time_step_type time_step;
Gary Servin 0:04ac6be8229a 20 typedef double _max_update_rate_type;
Gary Servin 0:04ac6be8229a 21 _max_update_rate_type max_update_rate;
Gary Servin 0:04ac6be8229a 22 typedef geometry_msgs::Vector3 _gravity_type;
Gary Servin 0:04ac6be8229a 23 _gravity_type gravity;
Gary Servin 0:04ac6be8229a 24 typedef gazebo_msgs::ODEPhysics _ode_config_type;
Gary Servin 0:04ac6be8229a 25 _ode_config_type ode_config;
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 SetPhysicsPropertiesRequest():
Gary Servin 0:04ac6be8229a 28 time_step(0),
Gary Servin 0:04ac6be8229a 29 max_update_rate(0),
Gary Servin 0:04ac6be8229a 30 gravity(),
Gary Servin 0:04ac6be8229a 31 ode_config()
Gary Servin 0:04ac6be8229a 32 {
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 union {
Gary Servin 0:04ac6be8229a 39 double real;
Gary Servin 0:04ac6be8229a 40 uint64_t base;
Gary Servin 0:04ac6be8229a 41 } u_time_step;
Gary Servin 0:04ac6be8229a 42 u_time_step.real = this->time_step;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 offset += sizeof(this->time_step);
Gary Servin 0:04ac6be8229a 52 union {
Gary Servin 0:04ac6be8229a 53 double real;
Gary Servin 0:04ac6be8229a 54 uint64_t base;
Gary Servin 0:04ac6be8229a 55 } u_max_update_rate;
Gary Servin 0:04ac6be8229a 56 u_max_update_rate.real = this->max_update_rate;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 offset += sizeof(this->max_update_rate);
Gary Servin 0:04ac6be8229a 66 offset += this->gravity.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 67 offset += this->ode_config.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 68 return offset;
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 72 {
Gary Servin 0:04ac6be8229a 73 int offset = 0;
Gary Servin 0:04ac6be8229a 74 union {
Gary Servin 0:04ac6be8229a 75 double real;
Gary Servin 0:04ac6be8229a 76 uint64_t base;
Gary Servin 0:04ac6be8229a 77 } u_time_step;
Gary Servin 0:04ac6be8229a 78 u_time_step.base = 0;
Gary Servin 0:04ac6be8229a 79 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 80 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 81 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 82 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 83 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 84 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 85 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 86 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 87 this->time_step = u_time_step.real;
Gary Servin 0:04ac6be8229a 88 offset += sizeof(this->time_step);
Gary Servin 0:04ac6be8229a 89 union {
Gary Servin 0:04ac6be8229a 90 double real;
Gary Servin 0:04ac6be8229a 91 uint64_t base;
Gary Servin 0:04ac6be8229a 92 } u_max_update_rate;
Gary Servin 0:04ac6be8229a 93 u_max_update_rate.base = 0;
Gary Servin 0:04ac6be8229a 94 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 95 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 96 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 97 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 98 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 99 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 100 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 101 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 102 this->max_update_rate = u_max_update_rate.real;
Gary Servin 0:04ac6be8229a 103 offset += sizeof(this->max_update_rate);
Gary Servin 0:04ac6be8229a 104 offset += this->gravity.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 105 offset += this->ode_config.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 106 return offset;
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108
Gary Servin 0:04ac6be8229a 109 const char * getType(){ return SETPHYSICSPROPERTIES; };
Gary Servin 0:04ac6be8229a 110 const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
Gary Servin 0:04ac6be8229a 111
Gary Servin 0:04ac6be8229a 112 };
Gary Servin 0:04ac6be8229a 113
Gary Servin 0:04ac6be8229a 114 class SetPhysicsPropertiesResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 115 {
Gary Servin 0:04ac6be8229a 116 public:
Gary Servin 0:04ac6be8229a 117 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 118 _success_type success;
Gary Servin 0:04ac6be8229a 119 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 120 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 121
Gary Servin 0:04ac6be8229a 122 SetPhysicsPropertiesResponse():
Gary Servin 0:04ac6be8229a 123 success(0),
Gary Servin 0:04ac6be8229a 124 status_message("")
Gary Servin 0:04ac6be8229a 125 {
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127
Gary Servin 0:04ac6be8229a 128 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 129 {
Gary Servin 0:04ac6be8229a 130 int offset = 0;
Gary Servin 0:04ac6be8229a 131 union {
Gary Servin 0:04ac6be8229a 132 bool real;
Gary Servin 0:04ac6be8229a 133 uint8_t base;
Gary Servin 0:04ac6be8229a 134 } u_success;
Gary Servin 0:04ac6be8229a 135 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 136 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 137 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 138 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 139 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 140 offset += 4;
Gary Servin 0:04ac6be8229a 141 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 142 offset += length_status_message;
Gary Servin 0:04ac6be8229a 143 return offset;
Gary Servin 0:04ac6be8229a 144 }
Gary Servin 0:04ac6be8229a 145
Gary Servin 0:04ac6be8229a 146 virtual int deserialize(unsigned char *inbuffer)
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.base = 0;
Gary Servin 0:04ac6be8229a 154 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 155 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 156 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 157 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 158 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 159 offset += 4;
Gary Servin 0:04ac6be8229a 160 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 161 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 164 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 165 offset += length_status_message;
Gary Servin 0:04ac6be8229a 166 return offset;
Gary Servin 0:04ac6be8229a 167 }
Gary Servin 0:04ac6be8229a 168
Gary Servin 0:04ac6be8229a 169 const char * getType(){ return SETPHYSICSPROPERTIES; };
Gary Servin 0:04ac6be8229a 170 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 171
Gary Servin 0:04ac6be8229a 172 };
Gary Servin 0:04ac6be8229a 173
Gary Servin 0:04ac6be8229a 174 class SetPhysicsProperties {
Gary Servin 0:04ac6be8229a 175 public:
Gary Servin 0:04ac6be8229a 176 typedef SetPhysicsPropertiesRequest Request;
Gary Servin 0:04ac6be8229a 177 typedef SetPhysicsPropertiesResponse Response;
Gary Servin 0:04ac6be8229a 178 };
Gary Servin 0:04ac6be8229a 179
Gary Servin 0:04ac6be8229a 180 }
Gary Servin 0:04ac6be8229a 181 #endif