John Lam
make changes on buffer serial
Diff: control_msgs/QueryTrajectoryState.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a control_msgs/QueryTrajectoryState.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/QueryTrajectoryState.h Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,287 @@
+#ifndef _ROS_SERVICE_QueryTrajectoryState_h
+#define _ROS_SERVICE_QueryTrajectoryState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace control_msgs
+{
+
+static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
+
+ class QueryTrajectoryStateRequest : public ros::Msg
+ {
+ public:
+ typedef ros::Time _time_type;
+ _time_type time;
+
+ QueryTrajectoryStateRequest():
+ time()
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->time.sec);
+ *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->time.nsec);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ this->time.sec = ((uint32_t) (*(inbuffer + offset)));
+ this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->time.sec);
+ this->time.nsec = ((uint32_t) (*(inbuffer + offset)));
+ this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->time.nsec);
+ return offset;
+ }
+
+ const char * getType(){ return QUERYTRAJECTORYSTATE; };
+ const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
+
+ };
+
+ class QueryTrajectoryStateResponse : public ros::Msg
+ {
+ public:
+ uint32_t name_length;
+ typedef char* _name_type;
+ _name_type st_name;
+ _name_type * name;
+ uint32_t position_length;
+ typedef double _position_type;
+ _position_type st_position;
+ _position_type * position;
+ uint32_t velocity_length;
+ typedef double _velocity_type;
+ _velocity_type st_velocity;
+ _velocity_type * velocity;
+ uint32_t acceleration_length;
+ typedef double _acceleration_type;
+ _acceleration_type st_acceleration;
+ _acceleration_type * acceleration;
+
+ QueryTrajectoryStateResponse():
+ name_length(0), name(NULL),
+ position_length(0), position(NULL),
+ velocity_length(0), velocity(NULL),
+ acceleration_length(0), acceleration(NULL)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->name_length);
+ for( uint32_t i = 0; i < name_length; i++){
+ uint32_t length_namei = strlen(this->name[i]);
+ varToArr(outbuffer + offset, length_namei);
+ offset += 4;
+ memcpy(outbuffer + offset, this->name[i], length_namei);
+ offset += length_namei;
+ }
+ *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->position_length);
+ for( uint32_t i = 0; i < position_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_positioni;
+ u_positioni.real = this->position[i];
+ *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->position[i]);
+ }
+ *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->velocity_length);
+ for( uint32_t i = 0; i < velocity_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_velocityi;
+ u_velocityi.real = this->velocity[i];
+ *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->velocity[i]);
+ }
+ *(outbuffer + offset + 0) = (this->acceleration_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->acceleration_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->acceleration_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->acceleration_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->acceleration_length);
+ for( uint32_t i = 0; i < acceleration_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_accelerationi;
+ u_accelerationi.real = this->acceleration[i];
+ *(outbuffer + offset + 0) = (u_accelerationi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_accelerationi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_accelerationi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_accelerationi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_accelerationi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_accelerationi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_accelerationi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_accelerationi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->acceleration[i]);
+ }
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->name_length);
+ if(name_lengthT > name_length)
+ this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+ name_length = name_lengthT;
+ for( uint32_t i = 0; i < name_length; i++){
+ uint32_t length_st_name;
+ arrToVar(length_st_name, (inbuffer + offset));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_st_name; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_st_name-1]=0;
+ this->st_name = (char *)(inbuffer + offset-1);
+ offset += length_st_name;
+ memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+ }
+ uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->position_length);
+ if(position_lengthT > position_length)
+ this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+ position_length = position_lengthT;
+ for( uint32_t i = 0; i < position_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_position;
+ u_st_position.base = 0;
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_position = u_st_position.real;
+ offset += sizeof(this->st_position);
+ memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+ }
+ uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->velocity_length);
+ if(velocity_lengthT > velocity_length)
+ this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+ velocity_length = velocity_lengthT;
+ for( uint32_t i = 0; i < velocity_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_velocity;
+ u_st_velocity.base = 0;
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_velocity = u_st_velocity.real;
+ offset += sizeof(this->st_velocity);
+ memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+ }
+ uint32_t acceleration_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->acceleration_length);
+ if(acceleration_lengthT > acceleration_length)
+ this->acceleration = (double*)realloc(this->acceleration, acceleration_lengthT * sizeof(double));
+ acceleration_length = acceleration_lengthT;
+ for( uint32_t i = 0; i < acceleration_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_acceleration;
+ u_st_acceleration.base = 0;
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_acceleration = u_st_acceleration.real;
+ offset += sizeof(this->st_acceleration);
+ memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(double));
+ }
+ return offset;
+ }
+
+ const char * getType(){ return QUERYTRAJECTORYSTATE; };
+ const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
+
+ };
+
+ class QueryTrajectoryState {
+ public:
+ typedef QueryTrajectoryStateRequest Request;
+ typedef QueryTrajectoryStateResponse Response;
+ };
+
+}
+#endif