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/GetWorldProperties.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_GetWorldProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetWorldProperties_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
garyservin 0:9e9b7db60fd5 8 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char GETWORLDPROPERTIES[] = "gazebo_msgs/GetWorldProperties";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class GetWorldPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 GetWorldPropertiesRequest()
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 }
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 int offset = 0;
garyservin 0:9e9b7db60fd5 24 return offset;
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 return offset;
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 const char * getType(){ return GETWORLDPROPERTIES; };
garyservin 0:9e9b7db60fd5 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 class GetWorldPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 typedef double _sim_time_type;
garyservin 0:9e9b7db60fd5 42 _sim_time_type sim_time;
garyservin 0:9e9b7db60fd5 43 uint32_t model_names_length;
garyservin 0:9e9b7db60fd5 44 typedef char* _model_names_type;
garyservin 0:9e9b7db60fd5 45 _model_names_type st_model_names;
garyservin 0:9e9b7db60fd5 46 _model_names_type * model_names;
garyservin 0:9e9b7db60fd5 47 typedef bool _rendering_enabled_type;
garyservin 0:9e9b7db60fd5 48 _rendering_enabled_type rendering_enabled;
garyservin 0:9e9b7db60fd5 49 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 50 _success_type success;
garyservin 0:9e9b7db60fd5 51 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 52 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 53
garyservin 0:9e9b7db60fd5 54 GetWorldPropertiesResponse():
garyservin 0:9e9b7db60fd5 55 sim_time(0),
garyservin 0:9e9b7db60fd5 56 model_names_length(0), model_names(NULL),
garyservin 0:9e9b7db60fd5 57 rendering_enabled(0),
garyservin 0:9e9b7db60fd5 58 success(0),
garyservin 0:9e9b7db60fd5 59 status_message("")
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 int offset = 0;
garyservin 0:9e9b7db60fd5 66 union {
garyservin 0:9e9b7db60fd5 67 double real;
garyservin 0:9e9b7db60fd5 68 uint64_t base;
garyservin 0:9e9b7db60fd5 69 } u_sim_time;
garyservin 0:9e9b7db60fd5 70 u_sim_time.real = this->sim_time;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 0) = (u_sim_time.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 1) = (u_sim_time.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 2) = (u_sim_time.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 3) = (u_sim_time.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 4) = (u_sim_time.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 5) = (u_sim_time.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 6) = (u_sim_time.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 7) = (u_sim_time.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->sim_time);
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 0) = (this->model_names_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 1) = (this->model_names_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 2) = (this->model_names_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 3) = (this->model_names_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 offset += sizeof(this->model_names_length);
garyservin 0:9e9b7db60fd5 85 for( uint32_t i = 0; i < model_names_length; i++){
garyservin 0:9e9b7db60fd5 86 uint32_t length_model_namesi = strlen(this->model_names[i]);
garyservin 0:9e9b7db60fd5 87 varToArr(outbuffer + offset, length_model_namesi);
garyservin 0:9e9b7db60fd5 88 offset += 4;
garyservin 0:9e9b7db60fd5 89 memcpy(outbuffer + offset, this->model_names[i], length_model_namesi);
garyservin 0:9e9b7db60fd5 90 offset += length_model_namesi;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92 union {
garyservin 0:9e9b7db60fd5 93 bool real;
garyservin 0:9e9b7db60fd5 94 uint8_t base;
garyservin 0:9e9b7db60fd5 95 } u_rendering_enabled;
garyservin 0:9e9b7db60fd5 96 u_rendering_enabled.real = this->rendering_enabled;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 0) = (u_rendering_enabled.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->rendering_enabled);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 bool real;
garyservin 0:9e9b7db60fd5 101 uint8_t base;
garyservin 0:9e9b7db60fd5 102 } u_success;
garyservin 0:9e9b7db60fd5 103 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 106 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 107 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 108 offset += 4;
garyservin 0:9e9b7db60fd5 109 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 110 offset += length_status_message;
garyservin 0:9e9b7db60fd5 111 return offset;
garyservin 0:9e9b7db60fd5 112 }
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 115 {
garyservin 0:9e9b7db60fd5 116 int offset = 0;
garyservin 0:9e9b7db60fd5 117 union {
garyservin 0:9e9b7db60fd5 118 double real;
garyservin 0:9e9b7db60fd5 119 uint64_t base;
garyservin 0:9e9b7db60fd5 120 } u_sim_time;
garyservin 0:9e9b7db60fd5 121 u_sim_time.base = 0;
garyservin 0:9e9b7db60fd5 122 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 123 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 124 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 125 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 126 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 127 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 128 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 129 u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 130 this->sim_time = u_sim_time.real;
garyservin 0:9e9b7db60fd5 131 offset += sizeof(this->sim_time);
garyservin 0:9e9b7db60fd5 132 uint32_t model_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 133 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 offset += sizeof(this->model_names_length);
garyservin 0:9e9b7db60fd5 137 if(model_names_lengthT > model_names_length)
garyservin 0:9e9b7db60fd5 138 this->model_names = (char**)realloc(this->model_names, model_names_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 139 model_names_length = model_names_lengthT;
garyservin 0:9e9b7db60fd5 140 for( uint32_t i = 0; i < model_names_length; i++){
garyservin 0:9e9b7db60fd5 141 uint32_t length_st_model_names;
garyservin 0:9e9b7db60fd5 142 arrToVar(length_st_model_names, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 143 offset += 4;
garyservin 0:9e9b7db60fd5 144 for(unsigned int k= offset; k< offset+length_st_model_names; ++k){
garyservin 0:9e9b7db60fd5 145 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 146 }
garyservin 0:9e9b7db60fd5 147 inbuffer[offset+length_st_model_names-1]=0;
garyservin 0:9e9b7db60fd5 148 this->st_model_names = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 149 offset += length_st_model_names;
garyservin 0:9e9b7db60fd5 150 memcpy( &(this->model_names[i]), &(this->st_model_names), sizeof(char*));
garyservin 0:9e9b7db60fd5 151 }
garyservin 0:9e9b7db60fd5 152 union {
garyservin 0:9e9b7db60fd5 153 bool real;
garyservin 0:9e9b7db60fd5 154 uint8_t base;
garyservin 0:9e9b7db60fd5 155 } u_rendering_enabled;
garyservin 0:9e9b7db60fd5 156 u_rendering_enabled.base = 0;
garyservin 0:9e9b7db60fd5 157 u_rendering_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 158 this->rendering_enabled = u_rendering_enabled.real;
garyservin 0:9e9b7db60fd5 159 offset += sizeof(this->rendering_enabled);
garyservin 0:9e9b7db60fd5 160 union {
garyservin 0:9e9b7db60fd5 161 bool real;
garyservin 0:9e9b7db60fd5 162 uint8_t base;
garyservin 0:9e9b7db60fd5 163 } u_success;
garyservin 0:9e9b7db60fd5 164 u_success.base = 0;
garyservin 0:9e9b7db60fd5 165 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 166 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 167 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 168 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 169 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 170 offset += 4;
garyservin 0:9e9b7db60fd5 171 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 172 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 173 }
garyservin 0:9e9b7db60fd5 174 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 175 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 176 offset += length_status_message;
garyservin 0:9e9b7db60fd5 177 return offset;
garyservin 0:9e9b7db60fd5 178 }
garyservin 0:9e9b7db60fd5 179
garyservin 0:9e9b7db60fd5 180 const char * getType(){ return GETWORLDPROPERTIES; };
garyservin 0:9e9b7db60fd5 181 const char * getMD5(){ return "36bb0f2eccf4d8be971410c22818ba3f"; };
garyservin 0:9e9b7db60fd5 182
garyservin 0:9e9b7db60fd5 183 };
garyservin 0:9e9b7db60fd5 184
garyservin 0:9e9b7db60fd5 185 class GetWorldProperties {
garyservin 0:9e9b7db60fd5 186 public:
garyservin 0:9e9b7db60fd5 187 typedef GetWorldPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 188 typedef GetWorldPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 189 };
garyservin 0:9e9b7db60fd5 190
garyservin 0:9e9b7db60fd5 191 }
garyservin 0:9e9b7db60fd5 192 #endif