make changes on buffer serial
Diff: gazebo_msgs/WorldState.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a gazebo_msgs/WorldState.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/gazebo_msgs/WorldState.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,159 @@ +#ifndef _ROS_gazebo_msgs_WorldState_h +#define _ROS_gazebo_msgs_WorldState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Pose.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Wrench.h" + +namespace gazebo_msgs +{ + + class WorldState : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t name_length; + typedef char* _name_type; + _name_type st_name; + _name_type * name; + uint32_t pose_length; + typedef geometry_msgs::Pose _pose_type; + _pose_type st_pose; + _pose_type * pose; + uint32_t twist_length; + typedef geometry_msgs::Twist _twist_type; + _twist_type st_twist; + _twist_type * twist; + uint32_t wrench_length; + typedef geometry_msgs::Wrench _wrench_type; + _wrench_type st_wrench; + _wrench_type * wrench; + + WorldState(): + header(), + name_length(0), name(NULL), + pose_length(0), pose(NULL), + twist_length(0), twist(NULL), + wrench_length(0), wrench(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(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->pose_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->pose_length); + for( uint32_t i = 0; i < pose_length; i++){ + offset += this->pose[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->twist_length); + for( uint32_t i = 0; i < twist_length; i++){ + offset += this->twist[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->wrench_length); + for( uint32_t i = 0; i < wrench_length; i++){ + offset += this->wrench[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + 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 pose_lengthT = ((uint32_t) (*(inbuffer + offset))); + pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->pose_length); + if(pose_lengthT > pose_length) + this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose)); + pose_length = pose_lengthT; + for( uint32_t i = 0; i < pose_length; i++){ + offset += this->st_pose.deserialize(inbuffer + offset); + memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose)); + } + uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->twist_length); + if(twist_lengthT > twist_length) + this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); + twist_length = twist_lengthT; + for( uint32_t i = 0; i < twist_length; i++){ + offset += this->st_twist.deserialize(inbuffer + offset); + memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); + } + uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->wrench_length); + if(wrench_lengthT > wrench_length) + this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench)); + wrench_length = wrench_lengthT; + for( uint32_t i = 0; i < wrench_length; i++){ + offset += this->st_wrench.deserialize(inbuffer + offset); + memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench)); + } + return offset; + } + + const char * getType(){ return "gazebo_msgs/WorldState"; }; + const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; }; + + }; + +} +#endif