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/LinkStates.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?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_gazebo_msgs_LinkStates_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_LinkStates_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Twist.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class LinkStates : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 uint32_t name_length;
garyservin 0:9e9b7db60fd5 18 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 19 _name_type st_name;
garyservin 0:9e9b7db60fd5 20 _name_type * name;
garyservin 0:9e9b7db60fd5 21 uint32_t pose_length;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 23 _pose_type st_pose;
garyservin 0:9e9b7db60fd5 24 _pose_type * pose;
garyservin 0:9e9b7db60fd5 25 uint32_t twist_length;
garyservin 0:9e9b7db60fd5 26 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 27 _twist_type st_twist;
garyservin 0:9e9b7db60fd5 28 _twist_type * twist;
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 LinkStates():
garyservin 0:9e9b7db60fd5 31 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 32 pose_length(0), pose(NULL),
garyservin 0:9e9b7db60fd5 33 twist_length(0), twist(NULL)
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 }
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 int offset = 0;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 45 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 46 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 47 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 48 offset += 4;
garyservin 0:9e9b7db60fd5 49 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 50 offset += length_namei;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 57 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 58 offset += this->pose[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->twist[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 }
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 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 75 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 79 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 80 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 81 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 82 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 83 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 84 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 85 offset += 4;
garyservin 0:9e9b7db60fd5 86 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 87 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 90 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 91 offset += length_st_name;
garyservin 0:9e9b7db60fd5 92 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 99 if(pose_lengthT > pose_length)
garyservin 0:9e9b7db60fd5 100 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 101 pose_length = pose_lengthT;
garyservin 0:9e9b7db60fd5 102 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 103 offset += this->st_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 104 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 105 }
garyservin 0:9e9b7db60fd5 106 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 107 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 108 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 109 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 110 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 111 if(twist_lengthT > twist_length)
garyservin 0:9e9b7db60fd5 112 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 113 twist_length = twist_lengthT;
garyservin 0:9e9b7db60fd5 114 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 115 offset += this->st_twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 116 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 return offset;
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 const char * getType(){ return "gazebo_msgs/LinkStates"; };
garyservin 0:9e9b7db60fd5 122 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 };
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127 #endif