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/SetPhysicsProperties.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_SetPhysicsProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetPhysicsProperties_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 SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class SetPhysicsPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef double _time_step_type;
garyservin 0:9e9b7db60fd5 19 _time_step_type time_step;
garyservin 0:9e9b7db60fd5 20 typedef double _max_update_rate_type;
garyservin 0:9e9b7db60fd5 21 _max_update_rate_type max_update_rate;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Vector3 _gravity_type;
garyservin 0:9e9b7db60fd5 23 _gravity_type gravity;
garyservin 0:9e9b7db60fd5 24 typedef gazebo_msgs::ODEPhysics _ode_config_type;
garyservin 0:9e9b7db60fd5 25 _ode_config_type ode_config;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 SetPhysicsPropertiesRequest():
garyservin 0:9e9b7db60fd5 28 time_step(0),
garyservin 0:9e9b7db60fd5 29 max_update_rate(0),
garyservin 0:9e9b7db60fd5 30 gravity(),
garyservin 0:9e9b7db60fd5 31 ode_config()
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 union {
garyservin 0:9e9b7db60fd5 39 double real;
garyservin 0:9e9b7db60fd5 40 uint64_t base;
garyservin 0:9e9b7db60fd5 41 } u_time_step;
garyservin 0:9e9b7db60fd5 42 u_time_step.real = this->time_step;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 52 union {
garyservin 0:9e9b7db60fd5 53 double real;
garyservin 0:9e9b7db60fd5 54 uint64_t base;
garyservin 0:9e9b7db60fd5 55 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 56 u_max_update_rate.real = this->max_update_rate;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 66 offset += this->gravity.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 offset += this->ode_config.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 68 return offset;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 int offset = 0;
garyservin 0:9e9b7db60fd5 74 union {
garyservin 0:9e9b7db60fd5 75 double real;
garyservin 0:9e9b7db60fd5 76 uint64_t base;
garyservin 0:9e9b7db60fd5 77 } u_time_step;
garyservin 0:9e9b7db60fd5 78 u_time_step.base = 0;
garyservin 0:9e9b7db60fd5 79 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 80 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 81 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 82 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 83 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 84 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 85 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 86 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 87 this->time_step = u_time_step.real;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 double real;
garyservin 0:9e9b7db60fd5 91 uint64_t base;
garyservin 0:9e9b7db60fd5 92 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 93 u_max_update_rate.base = 0;
garyservin 0:9e9b7db60fd5 94 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 95 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 99 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 100 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 101 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 102 this->max_update_rate = u_max_update_rate.real;
garyservin 0:9e9b7db60fd5 103 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 104 offset += this->gravity.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 105 offset += this->ode_config.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 106 return offset;
garyservin 0:9e9b7db60fd5 107 }
garyservin 0:9e9b7db60fd5 108
garyservin 0:9e9b7db60fd5 109 const char * getType(){ return SETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 110 const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 };
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 class SetPhysicsPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 115 {
garyservin 0:9e9b7db60fd5 116 public:
garyservin 0:9e9b7db60fd5 117 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 118 _success_type success;
garyservin 0:9e9b7db60fd5 119 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 120 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 SetPhysicsPropertiesResponse():
garyservin 0:9e9b7db60fd5 123 success(0),
garyservin 0:9e9b7db60fd5 124 status_message("")
garyservin 0:9e9b7db60fd5 125 {
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127
garyservin 0:9e9b7db60fd5 128 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 129 {
garyservin 0:9e9b7db60fd5 130 int offset = 0;
garyservin 0:9e9b7db60fd5 131 union {
garyservin 0:9e9b7db60fd5 132 bool real;
garyservin 0:9e9b7db60fd5 133 uint8_t base;
garyservin 0:9e9b7db60fd5 134 } u_success;
garyservin 0:9e9b7db60fd5 135 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 138 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 139 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 140 offset += 4;
garyservin 0:9e9b7db60fd5 141 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 142 offset += length_status_message;
garyservin 0:9e9b7db60fd5 143 return offset;
garyservin 0:9e9b7db60fd5 144 }
garyservin 0:9e9b7db60fd5 145
garyservin 0:9e9b7db60fd5 146 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 147 {
garyservin 0:9e9b7db60fd5 148 int offset = 0;
garyservin 0:9e9b7db60fd5 149 union {
garyservin 0:9e9b7db60fd5 150 bool real;
garyservin 0:9e9b7db60fd5 151 uint8_t base;
garyservin 0:9e9b7db60fd5 152 } u_success;
garyservin 0:9e9b7db60fd5 153 u_success.base = 0;
garyservin 0:9e9b7db60fd5 154 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 155 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 156 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 157 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 158 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 159 offset += 4;
garyservin 0:9e9b7db60fd5 160 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 161 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 164 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 165 offset += length_status_message;
garyservin 0:9e9b7db60fd5 166 return offset;
garyservin 0:9e9b7db60fd5 167 }
garyservin 0:9e9b7db60fd5 168
garyservin 0:9e9b7db60fd5 169 const char * getType(){ return SETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 170 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 171
garyservin 0:9e9b7db60fd5 172 };
garyservin 0:9e9b7db60fd5 173
garyservin 0:9e9b7db60fd5 174 class SetPhysicsProperties {
garyservin 0:9e9b7db60fd5 175 public:
garyservin 0:9e9b7db60fd5 176 typedef SetPhysicsPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 177 typedef SetPhysicsPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 178 };
garyservin 0:9e9b7db60fd5 179
garyservin 0:9e9b7db60fd5 180 }
garyservin 0:9e9b7db60fd5 181 #endif