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/ApplyBodyWrench.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_ApplyBodyWrench_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_ApplyBodyWrench_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 "ros/duration.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/Wrench.h"
garyservin 0:9e9b7db60fd5 9 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 10 #include "geometry_msgs/Point.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 class ApplyBodyWrenchRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 public:
garyservin 0:9e9b7db60fd5 20 typedef const char* _body_name_type;
garyservin 0:9e9b7db60fd5 21 _body_name_type body_name;
garyservin 0:9e9b7db60fd5 22 typedef const char* _reference_frame_type;
garyservin 0:9e9b7db60fd5 23 _reference_frame_type reference_frame;
garyservin 0:9e9b7db60fd5 24 typedef geometry_msgs::Point _reference_point_type;
garyservin 0:9e9b7db60fd5 25 _reference_point_type reference_point;
garyservin 0:9e9b7db60fd5 26 typedef geometry_msgs::Wrench _wrench_type;
garyservin 0:9e9b7db60fd5 27 _wrench_type wrench;
garyservin 0:9e9b7db60fd5 28 typedef ros::Time _start_time_type;
garyservin 0:9e9b7db60fd5 29 _start_time_type start_time;
garyservin 0:9e9b7db60fd5 30 typedef ros::Duration _duration_type;
garyservin 0:9e9b7db60fd5 31 _duration_type duration;
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 ApplyBodyWrenchRequest():
garyservin 0:9e9b7db60fd5 34 body_name(""),
garyservin 0:9e9b7db60fd5 35 reference_frame(""),
garyservin 0:9e9b7db60fd5 36 reference_point(),
garyservin 0:9e9b7db60fd5 37 wrench(),
garyservin 0:9e9b7db60fd5 38 start_time(),
garyservin 0:9e9b7db60fd5 39 duration()
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 }
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 int offset = 0;
garyservin 0:9e9b7db60fd5 46 uint32_t length_body_name = strlen(this->body_name);
garyservin 0:9e9b7db60fd5 47 varToArr(outbuffer + offset, length_body_name);
garyservin 0:9e9b7db60fd5 48 offset += 4;
garyservin 0:9e9b7db60fd5 49 memcpy(outbuffer + offset, this->body_name, length_body_name);
garyservin 0:9e9b7db60fd5 50 offset += length_body_name;
garyservin 0:9e9b7db60fd5 51 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:9e9b7db60fd5 52 varToArr(outbuffer + offset, length_reference_frame);
garyservin 0:9e9b7db60fd5 53 offset += 4;
garyservin 0:9e9b7db60fd5 54 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:9e9b7db60fd5 55 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 56 offset += this->reference_point.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 57 offset += this->wrench.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->start_time.sec);
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->start_time.nsec);
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->duration.sec);
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->duration.nsec);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 82 {
garyservin 0:9e9b7db60fd5 83 int offset = 0;
garyservin 0:9e9b7db60fd5 84 uint32_t length_body_name;
garyservin 0:9e9b7db60fd5 85 arrToVar(length_body_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 86 offset += 4;
garyservin 0:9e9b7db60fd5 87 for(unsigned int k= offset; k< offset+length_body_name; ++k){
garyservin 0:9e9b7db60fd5 88 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 inbuffer[offset+length_body_name-1]=0;
garyservin 0:9e9b7db60fd5 91 this->body_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 92 offset += length_body_name;
garyservin 0:9e9b7db60fd5 93 uint32_t length_reference_frame;
garyservin 0:9e9b7db60fd5 94 arrToVar(length_reference_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 95 offset += 4;
garyservin 0:9e9b7db60fd5 96 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:9e9b7db60fd5 97 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 98 }
garyservin 0:9e9b7db60fd5 99 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:9e9b7db60fd5 100 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 101 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 102 offset += this->reference_point.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 103 offset += this->wrench.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 104 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 105 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 106 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 107 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 108 offset += sizeof(this->start_time.sec);
garyservin 0:9e9b7db60fd5 109 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 110 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 111 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 112 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->start_time.nsec);
garyservin 0:9e9b7db60fd5 114 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 115 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 116 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 117 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 118 offset += sizeof(this->duration.sec);
garyservin 0:9e9b7db60fd5 119 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 120 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 121 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 122 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 123 offset += sizeof(this->duration.nsec);
garyservin 0:9e9b7db60fd5 124 return offset;
garyservin 0:9e9b7db60fd5 125 }
garyservin 0:9e9b7db60fd5 126
garyservin 0:9e9b7db60fd5 127 const char * getType(){ return APPLYBODYWRENCH; };
garyservin 0:9e9b7db60fd5 128 const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
garyservin 0:9e9b7db60fd5 129
garyservin 0:9e9b7db60fd5 130 };
garyservin 0:9e9b7db60fd5 131
garyservin 0:9e9b7db60fd5 132 class ApplyBodyWrenchResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 133 {
garyservin 0:9e9b7db60fd5 134 public:
garyservin 0:9e9b7db60fd5 135 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 136 _success_type success;
garyservin 0:9e9b7db60fd5 137 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 138 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 139
garyservin 0:9e9b7db60fd5 140 ApplyBodyWrenchResponse():
garyservin 0:9e9b7db60fd5 141 success(0),
garyservin 0:9e9b7db60fd5 142 status_message("")
garyservin 0:9e9b7db60fd5 143 {
garyservin 0:9e9b7db60fd5 144 }
garyservin 0:9e9b7db60fd5 145
garyservin 0:9e9b7db60fd5 146 virtual int serialize(unsigned char *outbuffer) const
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.real = this->success;
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 156 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 157 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 158 offset += 4;
garyservin 0:9e9b7db60fd5 159 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 160 offset += length_status_message;
garyservin 0:9e9b7db60fd5 161 return offset;
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163
garyservin 0:9e9b7db60fd5 164 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 165 {
garyservin 0:9e9b7db60fd5 166 int offset = 0;
garyservin 0:9e9b7db60fd5 167 union {
garyservin 0:9e9b7db60fd5 168 bool real;
garyservin 0:9e9b7db60fd5 169 uint8_t base;
garyservin 0:9e9b7db60fd5 170 } u_success;
garyservin 0:9e9b7db60fd5 171 u_success.base = 0;
garyservin 0:9e9b7db60fd5 172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 173 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 174 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 175 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 176 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 177 offset += 4;
garyservin 0:9e9b7db60fd5 178 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 179 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 180 }
garyservin 0:9e9b7db60fd5 181 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 182 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 183 offset += length_status_message;
garyservin 0:9e9b7db60fd5 184 return offset;
garyservin 0:9e9b7db60fd5 185 }
garyservin 0:9e9b7db60fd5 186
garyservin 0:9e9b7db60fd5 187 const char * getType(){ return APPLYBODYWRENCH; };
garyservin 0:9e9b7db60fd5 188 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 189
garyservin 0:9e9b7db60fd5 190 };
garyservin 0:9e9b7db60fd5 191
garyservin 0:9e9b7db60fd5 192 class ApplyBodyWrench {
garyservin 0:9e9b7db60fd5 193 public:
garyservin 0:9e9b7db60fd5 194 typedef ApplyBodyWrenchRequest Request;
garyservin 0:9e9b7db60fd5 195 typedef ApplyBodyWrenchResponse Response;
garyservin 0:9e9b7db60fd5 196 };
garyservin 0:9e9b7db60fd5 197
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199 #endif