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/SetJointProperties.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_SetJointProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetJointProperties_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 "gazebo_msgs/ODEJointProperties.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 static const char SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class SetJointPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _joint_name_type;
garyservin 0:9e9b7db60fd5 18 _joint_name_type joint_name;
garyservin 0:9e9b7db60fd5 19 typedef gazebo_msgs::ODEJointProperties _ode_joint_config_type;
garyservin 0:9e9b7db60fd5 20 _ode_joint_config_type ode_joint_config;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 SetJointPropertiesRequest():
garyservin 0:9e9b7db60fd5 23 joint_name(""),
garyservin 0:9e9b7db60fd5 24 ode_joint_config()
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 }
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 int offset = 0;
garyservin 0:9e9b7db60fd5 31 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_joint_name);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:9e9b7db60fd5 35 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 36 offset += this->ode_joint_config.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 37 return offset;
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t length_joint_name;
garyservin 0:9e9b7db60fd5 44 arrToVar(length_joint_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:9e9b7db60fd5 47 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:9e9b7db60fd5 50 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 51 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 52 offset += this->ode_joint_config.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 return offset;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 57 const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 };
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 class SetJointPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 public:
garyservin 0:9e9b7db60fd5 64 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 65 _success_type success;
garyservin 0:9e9b7db60fd5 66 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 67 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 SetJointPropertiesResponse():
garyservin 0:9e9b7db60fd5 70 success(0),
garyservin 0:9e9b7db60fd5 71 status_message("")
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 int offset = 0;
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 bool real;
garyservin 0:9e9b7db60fd5 80 uint8_t base;
garyservin 0:9e9b7db60fd5 81 } u_success;
garyservin 0:9e9b7db60fd5 82 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 85 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 86 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 87 offset += 4;
garyservin 0:9e9b7db60fd5 88 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 89 offset += length_status_message;
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 94 {
garyservin 0:9e9b7db60fd5 95 int offset = 0;
garyservin 0:9e9b7db60fd5 96 union {
garyservin 0:9e9b7db60fd5 97 bool real;
garyservin 0:9e9b7db60fd5 98 uint8_t base;
garyservin 0:9e9b7db60fd5 99 } u_success;
garyservin 0:9e9b7db60fd5 100 u_success.base = 0;
garyservin 0:9e9b7db60fd5 101 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 102 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 103 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 104 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 105 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 106 offset += 4;
garyservin 0:9e9b7db60fd5 107 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 108 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 111 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 112 offset += length_status_message;
garyservin 0:9e9b7db60fd5 113 return offset;
garyservin 0:9e9b7db60fd5 114 }
garyservin 0:9e9b7db60fd5 115
garyservin 0:9e9b7db60fd5 116 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 117 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 118
garyservin 0:9e9b7db60fd5 119 };
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 class SetJointProperties {
garyservin 0:9e9b7db60fd5 122 public:
garyservin 0:9e9b7db60fd5 123 typedef SetJointPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 124 typedef SetJointPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 125 };
garyservin 0:9e9b7db60fd5 126
garyservin 0:9e9b7db60fd5 127 }
garyservin 0:9e9b7db60fd5 128 #endif