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
Fork of ros_lib_kinetic by
gazebo_msgs/GetWorldProperties.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New 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 |