Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/GetPhysicsProperties.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_GetPhysicsProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetPhysicsProperties_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 8 #include "gazebo_msgs/ODEPhysics.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class GetPhysicsPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 GetPhysicsPropertiesRequest()
garyservin 0:9e9b7db60fd5 20 {
garyservin 0:9e9b7db60fd5 21 }
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 int offset = 0;
garyservin 0:9e9b7db60fd5 26 return offset;
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 36 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 };
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 class GetPhysicsPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 public:
garyservin 0:9e9b7db60fd5 43 typedef double _time_step_type;
garyservin 0:9e9b7db60fd5 44 _time_step_type time_step;
garyservin 0:9e9b7db60fd5 45 typedef bool _pause_type;
garyservin 0:9e9b7db60fd5 46 _pause_type pause;
garyservin 0:9e9b7db60fd5 47 typedef double _max_update_rate_type;
garyservin 0:9e9b7db60fd5 48 _max_update_rate_type max_update_rate;
garyservin 0:9e9b7db60fd5 49 typedef geometry_msgs::Vector3 _gravity_type;
garyservin 0:9e9b7db60fd5 50 _gravity_type gravity;
garyservin 0:9e9b7db60fd5 51 typedef gazebo_msgs::ODEPhysics _ode_config_type;
garyservin 0:9e9b7db60fd5 52 _ode_config_type ode_config;
garyservin 0:9e9b7db60fd5 53 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 54 _success_type success;
garyservin 0:9e9b7db60fd5 55 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 56 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 GetPhysicsPropertiesResponse():
garyservin 0:9e9b7db60fd5 59 time_step(0),
garyservin 0:9e9b7db60fd5 60 pause(0),
garyservin 0:9e9b7db60fd5 61 max_update_rate(0),
garyservin 0:9e9b7db60fd5 62 gravity(),
garyservin 0:9e9b7db60fd5 63 ode_config(),
garyservin 0:9e9b7db60fd5 64 success(0),
garyservin 0:9e9b7db60fd5 65 status_message("")
garyservin 0:9e9b7db60fd5 66 {
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 union {
garyservin 0:9e9b7db60fd5 73 double real;
garyservin 0:9e9b7db60fd5 74 uint64_t base;
garyservin 0:9e9b7db60fd5 75 } u_time_step;
garyservin 0:9e9b7db60fd5 76 u_time_step.real = this->time_step;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 86 union {
garyservin 0:9e9b7db60fd5 87 bool real;
garyservin 0:9e9b7db60fd5 88 uint8_t base;
garyservin 0:9e9b7db60fd5 89 } u_pause;
garyservin 0:9e9b7db60fd5 90 u_pause.real = this->pause;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->pause);
garyservin 0:9e9b7db60fd5 93 union {
garyservin 0:9e9b7db60fd5 94 double real;
garyservin 0:9e9b7db60fd5 95 uint64_t base;
garyservin 0:9e9b7db60fd5 96 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 97 u_max_update_rate.real = this->max_update_rate;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 107 offset += this->gravity.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 108 offset += this->ode_config.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 109 union {
garyservin 0:9e9b7db60fd5 110 bool real;
garyservin 0:9e9b7db60fd5 111 uint8_t base;
garyservin 0:9e9b7db60fd5 112 } u_success;
garyservin 0:9e9b7db60fd5 113 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 116 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 117 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 118 offset += 4;
garyservin 0:9e9b7db60fd5 119 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 120 offset += length_status_message;
garyservin 0:9e9b7db60fd5 121 return offset;
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 125 {
garyservin 0:9e9b7db60fd5 126 int offset = 0;
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 double real;
garyservin 0:9e9b7db60fd5 129 uint64_t base;
garyservin 0:9e9b7db60fd5 130 } u_time_step;
garyservin 0:9e9b7db60fd5 131 u_time_step.base = 0;
garyservin 0:9e9b7db60fd5 132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 137 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 138 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 139 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 140 this->time_step = u_time_step.real;
garyservin 0:9e9b7db60fd5 141 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 142 union {
garyservin 0:9e9b7db60fd5 143 bool real;
garyservin 0:9e9b7db60fd5 144 uint8_t base;
garyservin 0:9e9b7db60fd5 145 } u_pause;
garyservin 0:9e9b7db60fd5 146 u_pause.base = 0;
garyservin 0:9e9b7db60fd5 147 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 148 this->pause = u_pause.real;
garyservin 0:9e9b7db60fd5 149 offset += sizeof(this->pause);
garyservin 0:9e9b7db60fd5 150 union {
garyservin 0:9e9b7db60fd5 151 double real;
garyservin 0:9e9b7db60fd5 152 uint64_t base;
garyservin 0:9e9b7db60fd5 153 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 154 u_max_update_rate.base = 0;
garyservin 0:9e9b7db60fd5 155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 156 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 157 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 158 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 159 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 160 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 161 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 162 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 163 this->max_update_rate = u_max_update_rate.real;
garyservin 0:9e9b7db60fd5 164 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 165 offset += this->gravity.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 166 offset += this->ode_config.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 167 union {
garyservin 0:9e9b7db60fd5 168 bool real;
garyservin 0:9e9b7db60fd5 169 uint8_t base;
garyservin 0:9e9b7db60fd5 170 } u_success;
garyservin 0:9e9b7db60fd5 171 u_success.base = 0;
garyservin 0:9e9b7db60fd5 172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 173 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 174 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 175 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 176 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 177 offset += 4;
garyservin 0:9e9b7db60fd5 178 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 179 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 180 }
garyservin 0:9e9b7db60fd5 181 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 182 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 183 offset += length_status_message;
garyservin 0:9e9b7db60fd5 184 return offset;
garyservin 0:9e9b7db60fd5 185 }
garyservin 0:9e9b7db60fd5 186
garyservin 0:9e9b7db60fd5 187 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 188 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
garyservin 0:9e9b7db60fd5 189
garyservin 0:9e9b7db60fd5 190 };
garyservin 0:9e9b7db60fd5 191
garyservin 0:9e9b7db60fd5 192 class GetPhysicsProperties {
garyservin 0:9e9b7db60fd5 193 public:
garyservin 0:9e9b7db60fd5 194 typedef GetPhysicsPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 195 typedef GetPhysicsPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 196 };
garyservin 0:9e9b7db60fd5 197
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199 #endif