ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.
gazebo_msgs/GetModelState.h@2:4480021e9f58, 2022-08-18 (annotated)
- Committer:
- howanglam3
- Date:
- Thu Aug 18 07:35:12 2022 +0000
- Revision:
- 2:4480021e9f58
- Parent:
- 0:04ac6be8229a
unchanged
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_SERVICE_GetModelState_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_SERVICE_GetModelState_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/Pose.h" |
Gary Servin |
0:04ac6be8229a | 8 | #include "geometry_msgs/Twist.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "std_msgs/Header.h" |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | namespace gazebo_msgs |
Gary Servin |
0:04ac6be8229a | 12 | { |
Gary Servin |
0:04ac6be8229a | 13 | |
Gary Servin |
0:04ac6be8229a | 14 | static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState"; |
Gary Servin |
0:04ac6be8229a | 15 | |
Gary Servin |
0:04ac6be8229a | 16 | class GetModelStateRequest : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 17 | { |
Gary Servin |
0:04ac6be8229a | 18 | public: |
Gary Servin |
0:04ac6be8229a | 19 | typedef const char* _model_name_type; |
Gary Servin |
0:04ac6be8229a | 20 | _model_name_type model_name; |
Gary Servin |
0:04ac6be8229a | 21 | typedef const char* _relative_entity_name_type; |
Gary Servin |
0:04ac6be8229a | 22 | _relative_entity_name_type relative_entity_name; |
Gary Servin |
0:04ac6be8229a | 23 | |
Gary Servin |
0:04ac6be8229a | 24 | GetModelStateRequest(): |
Gary Servin |
0:04ac6be8229a | 25 | model_name(""), |
Gary Servin |
0:04ac6be8229a | 26 | relative_entity_name("") |
Gary Servin |
0:04ac6be8229a | 27 | { |
Gary Servin |
0:04ac6be8229a | 28 | } |
Gary Servin |
0:04ac6be8229a | 29 | |
Gary Servin |
0:04ac6be8229a | 30 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 31 | { |
Gary Servin |
0:04ac6be8229a | 32 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 33 | uint32_t length_model_name = strlen(this->model_name); |
Gary Servin |
0:04ac6be8229a | 34 | varToArr(outbuffer + offset, length_model_name); |
Gary Servin |
0:04ac6be8229a | 35 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 36 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
Gary Servin |
0:04ac6be8229a | 37 | offset += length_model_name; |
Gary Servin |
0:04ac6be8229a | 38 | uint32_t length_relative_entity_name = strlen(this->relative_entity_name); |
Gary Servin |
0:04ac6be8229a | 39 | varToArr(outbuffer + offset, length_relative_entity_name); |
Gary Servin |
0:04ac6be8229a | 40 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 41 | memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name); |
Gary Servin |
0:04ac6be8229a | 42 | offset += length_relative_entity_name; |
Gary Servin |
0:04ac6be8229a | 43 | return offset; |
Gary Servin |
0:04ac6be8229a | 44 | } |
Gary Servin |
0:04ac6be8229a | 45 | |
Gary Servin |
0:04ac6be8229a | 46 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 47 | { |
Gary Servin |
0:04ac6be8229a | 48 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 49 | uint32_t length_model_name; |
Gary Servin |
0:04ac6be8229a | 50 | arrToVar(length_model_name, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 51 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 52 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
Gary Servin |
0:04ac6be8229a | 53 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 54 | } |
Gary Servin |
0:04ac6be8229a | 55 | inbuffer[offset+length_model_name-1]=0; |
Gary Servin |
0:04ac6be8229a | 56 | this->model_name = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 57 | offset += length_model_name; |
Gary Servin |
0:04ac6be8229a | 58 | uint32_t length_relative_entity_name; |
Gary Servin |
0:04ac6be8229a | 59 | arrToVar(length_relative_entity_name, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 60 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 61 | for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){ |
Gary Servin |
0:04ac6be8229a | 62 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 63 | } |
Gary Servin |
0:04ac6be8229a | 64 | inbuffer[offset+length_relative_entity_name-1]=0; |
Gary Servin |
0:04ac6be8229a | 65 | this->relative_entity_name = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 66 | offset += length_relative_entity_name; |
Gary Servin |
0:04ac6be8229a | 67 | return offset; |
Gary Servin |
0:04ac6be8229a | 68 | } |
Gary Servin |
0:04ac6be8229a | 69 | |
Gary Servin |
0:04ac6be8229a | 70 | const char * getType(){ return GETMODELSTATE; }; |
Gary Servin |
0:04ac6be8229a | 71 | const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; }; |
Gary Servin |
0:04ac6be8229a | 72 | |
Gary Servin |
0:04ac6be8229a | 73 | }; |
Gary Servin |
0:04ac6be8229a | 74 | |
Gary Servin |
0:04ac6be8229a | 75 | class GetModelStateResponse : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 76 | { |
Gary Servin |
0:04ac6be8229a | 77 | public: |
Gary Servin |
0:04ac6be8229a | 78 | typedef std_msgs::Header _header_type; |
Gary Servin |
0:04ac6be8229a | 79 | _header_type header; |
Gary Servin |
0:04ac6be8229a | 80 | typedef geometry_msgs::Pose _pose_type; |
Gary Servin |
0:04ac6be8229a | 81 | _pose_type pose; |
Gary Servin |
0:04ac6be8229a | 82 | typedef geometry_msgs::Twist _twist_type; |
Gary Servin |
0:04ac6be8229a | 83 | _twist_type twist; |
Gary Servin |
0:04ac6be8229a | 84 | typedef bool _success_type; |
Gary Servin |
0:04ac6be8229a | 85 | _success_type success; |
Gary Servin |
0:04ac6be8229a | 86 | typedef const char* _status_message_type; |
Gary Servin |
0:04ac6be8229a | 87 | _status_message_type status_message; |
Gary Servin |
0:04ac6be8229a | 88 | |
Gary Servin |
0:04ac6be8229a | 89 | GetModelStateResponse(): |
Gary Servin |
0:04ac6be8229a | 90 | header(), |
Gary Servin |
0:04ac6be8229a | 91 | pose(), |
Gary Servin |
0:04ac6be8229a | 92 | twist(), |
Gary Servin |
0:04ac6be8229a | 93 | success(0), |
Gary Servin |
0:04ac6be8229a | 94 | status_message("") |
Gary Servin |
0:04ac6be8229a | 95 | { |
Gary Servin |
0:04ac6be8229a | 96 | } |
Gary Servin |
0:04ac6be8229a | 97 | |
Gary Servin |
0:04ac6be8229a | 98 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 99 | { |
Gary Servin |
0:04ac6be8229a | 100 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 101 | offset += this->header.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 102 | offset += this->pose.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 103 | offset += this->twist.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 104 | union { |
Gary Servin |
0:04ac6be8229a | 105 | bool real; |
Gary Servin |
0:04ac6be8229a | 106 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 107 | } u_success; |
Gary Servin |
0:04ac6be8229a | 108 | u_success.real = this->success; |
Gary Servin |
0:04ac6be8229a | 109 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 110 | offset += sizeof(this->success); |
Gary Servin |
0:04ac6be8229a | 111 | uint32_t length_status_message = strlen(this->status_message); |
Gary Servin |
0:04ac6be8229a | 112 | varToArr(outbuffer + offset, length_status_message); |
Gary Servin |
0:04ac6be8229a | 113 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 114 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
Gary Servin |
0:04ac6be8229a | 115 | offset += length_status_message; |
Gary Servin |
0:04ac6be8229a | 116 | return offset; |
Gary Servin |
0:04ac6be8229a | 117 | } |
Gary Servin |
0:04ac6be8229a | 118 | |
Gary Servin |
0:04ac6be8229a | 119 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 120 | { |
Gary Servin |
0:04ac6be8229a | 121 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 122 | offset += this->header.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 123 | offset += this->pose.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 124 | offset += this->twist.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 125 | union { |
Gary Servin |
0:04ac6be8229a | 126 | bool real; |
Gary Servin |
0:04ac6be8229a | 127 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 128 | } u_success; |
Gary Servin |
0:04ac6be8229a | 129 | u_success.base = 0; |
Gary Servin |
0:04ac6be8229a | 130 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 131 | this->success = u_success.real; |
Gary Servin |
0:04ac6be8229a | 132 | offset += sizeof(this->success); |
Gary Servin |
0:04ac6be8229a | 133 | uint32_t length_status_message; |
Gary Servin |
0:04ac6be8229a | 134 | arrToVar(length_status_message, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 135 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 136 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
Gary Servin |
0:04ac6be8229a | 137 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 138 | } |
Gary Servin |
0:04ac6be8229a | 139 | inbuffer[offset+length_status_message-1]=0; |
Gary Servin |
0:04ac6be8229a | 140 | this->status_message = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 141 | offset += length_status_message; |
Gary Servin |
0:04ac6be8229a | 142 | return offset; |
Gary Servin |
0:04ac6be8229a | 143 | } |
Gary Servin |
0:04ac6be8229a | 144 | |
Gary Servin |
0:04ac6be8229a | 145 | const char * getType(){ return GETMODELSTATE; }; |
Gary Servin |
0:04ac6be8229a | 146 | const char * getMD5(){ return "ccd51739bb00f0141629e87b792e92b9"; }; |
Gary Servin |
0:04ac6be8229a | 147 | |
Gary Servin |
0:04ac6be8229a | 148 | }; |
Gary Servin |
0:04ac6be8229a | 149 | |
Gary Servin |
0:04ac6be8229a | 150 | class GetModelState { |
Gary Servin |
0:04ac6be8229a | 151 | public: |
Gary Servin |
0:04ac6be8229a | 152 | typedef GetModelStateRequest Request; |
Gary Servin |
0:04ac6be8229a | 153 | typedef GetModelStateResponse Response; |
Gary Servin |
0:04ac6be8229a | 154 | }; |
Gary Servin |
0:04ac6be8229a | 155 | |
Gary Servin |
0:04ac6be8229a | 156 | } |
Gary Servin |
0:04ac6be8229a | 157 | #endif |