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/SetModelConfiguration.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_SetModelConfiguration_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetModelConfiguration_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 SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class SetModelConfigurationRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _model_name_type;
garyservin 0:9e9b7db60fd5 17 _model_name_type model_name;
garyservin 0:9e9b7db60fd5 18 typedef const char* _urdf_param_name_type;
garyservin 0:9e9b7db60fd5 19 _urdf_param_name_type urdf_param_name;
garyservin 0:9e9b7db60fd5 20 uint32_t joint_names_length;
garyservin 0:9e9b7db60fd5 21 typedef char* _joint_names_type;
garyservin 0:9e9b7db60fd5 22 _joint_names_type st_joint_names;
garyservin 0:9e9b7db60fd5 23 _joint_names_type * joint_names;
garyservin 0:9e9b7db60fd5 24 uint32_t joint_positions_length;
garyservin 0:9e9b7db60fd5 25 typedef double _joint_positions_type;
garyservin 0:9e9b7db60fd5 26 _joint_positions_type st_joint_positions;
garyservin 0:9e9b7db60fd5 27 _joint_positions_type * joint_positions;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 SetModelConfigurationRequest():
garyservin 0:9e9b7db60fd5 30 model_name(""),
garyservin 0:9e9b7db60fd5 31 urdf_param_name(""),
garyservin 0:9e9b7db60fd5 32 joint_names_length(0), joint_names(NULL),
garyservin 0:9e9b7db60fd5 33 joint_positions_length(0), joint_positions(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 uint32_t length_model_name = strlen(this->model_name);
garyservin 0:9e9b7db60fd5 41 varToArr(outbuffer + offset, length_model_name);
garyservin 0:9e9b7db60fd5 42 offset += 4;
garyservin 0:9e9b7db60fd5 43 memcpy(outbuffer + offset, this->model_name, length_model_name);
garyservin 0:9e9b7db60fd5 44 offset += length_model_name;
garyservin 0:9e9b7db60fd5 45 uint32_t length_urdf_param_name = strlen(this->urdf_param_name);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_urdf_param_name);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name);
garyservin 0:9e9b7db60fd5 49 offset += length_urdf_param_name;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 55 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 56 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:9e9b7db60fd5 57 varToArr(outbuffer + offset, length_joint_namesi);
garyservin 0:9e9b7db60fd5 58 offset += 4;
garyservin 0:9e9b7db60fd5 59 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:9e9b7db60fd5 60 offset += length_joint_namesi;
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->joint_positions_length);
garyservin 0:9e9b7db60fd5 67 for( uint32_t i = 0; i < joint_positions_length; i++){
garyservin 0:9e9b7db60fd5 68 union {
garyservin 0:9e9b7db60fd5 69 double real;
garyservin 0:9e9b7db60fd5 70 uint64_t base;
garyservin 0:9e9b7db60fd5 71 } u_joint_positionsi;
garyservin 0:9e9b7db60fd5 72 u_joint_positionsi.real = this->joint_positions[i];
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->joint_positions[i]);
garyservin 0:9e9b7db60fd5 82 }
garyservin 0:9e9b7db60fd5 83 return offset;
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 int offset = 0;
garyservin 0:9e9b7db60fd5 89 uint32_t length_model_name;
garyservin 0:9e9b7db60fd5 90 arrToVar(length_model_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 91 offset += 4;
garyservin 0:9e9b7db60fd5 92 for(unsigned int k= offset; k< offset+length_model_name; ++k){
garyservin 0:9e9b7db60fd5 93 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 94 }
garyservin 0:9e9b7db60fd5 95 inbuffer[offset+length_model_name-1]=0;
garyservin 0:9e9b7db60fd5 96 this->model_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 97 offset += length_model_name;
garyservin 0:9e9b7db60fd5 98 uint32_t length_urdf_param_name;
garyservin 0:9e9b7db60fd5 99 arrToVar(length_urdf_param_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 100 offset += 4;
garyservin 0:9e9b7db60fd5 101 for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){
garyservin 0:9e9b7db60fd5 102 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104 inbuffer[offset+length_urdf_param_name-1]=0;
garyservin 0:9e9b7db60fd5 105 this->urdf_param_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 106 offset += length_urdf_param_name;
garyservin 0:9e9b7db60fd5 107 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 108 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 109 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 110 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 112 if(joint_names_lengthT > joint_names_length)
garyservin 0:9e9b7db60fd5 113 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 114 joint_names_length = joint_names_lengthT;
garyservin 0:9e9b7db60fd5 115 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 116 uint32_t length_st_joint_names;
garyservin 0:9e9b7db60fd5 117 arrToVar(length_st_joint_names, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 118 offset += 4;
garyservin 0:9e9b7db60fd5 119 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:9e9b7db60fd5 120 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 121 }
garyservin 0:9e9b7db60fd5 122 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:9e9b7db60fd5 123 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 124 offset += length_st_joint_names;
garyservin 0:9e9b7db60fd5 125 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127 uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 128 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 129 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 130 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 131 offset += sizeof(this->joint_positions_length);
garyservin 0:9e9b7db60fd5 132 if(joint_positions_lengthT > joint_positions_length)
garyservin 0:9e9b7db60fd5 133 this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 134 joint_positions_length = joint_positions_lengthT;
garyservin 0:9e9b7db60fd5 135 for( uint32_t i = 0; i < joint_positions_length; i++){
garyservin 0:9e9b7db60fd5 136 union {
garyservin 0:9e9b7db60fd5 137 double real;
garyservin 0:9e9b7db60fd5 138 uint64_t base;
garyservin 0:9e9b7db60fd5 139 } u_st_joint_positions;
garyservin 0:9e9b7db60fd5 140 u_st_joint_positions.base = 0;
garyservin 0:9e9b7db60fd5 141 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 142 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 143 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 144 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 145 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 146 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 147 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 148 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 149 this->st_joint_positions = u_st_joint_positions.real;
garyservin 0:9e9b7db60fd5 150 offset += sizeof(this->st_joint_positions);
garyservin 0:9e9b7db60fd5 151 memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double));
garyservin 0:9e9b7db60fd5 152 }
garyservin 0:9e9b7db60fd5 153 return offset;
garyservin 0:9e9b7db60fd5 154 }
garyservin 0:9e9b7db60fd5 155
garyservin 0:9e9b7db60fd5 156 const char * getType(){ return SETMODELCONFIGURATION; };
garyservin 0:9e9b7db60fd5 157 const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; };
garyservin 0:9e9b7db60fd5 158
garyservin 0:9e9b7db60fd5 159 };
garyservin 0:9e9b7db60fd5 160
garyservin 0:9e9b7db60fd5 161 class SetModelConfigurationResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 162 {
garyservin 0:9e9b7db60fd5 163 public:
garyservin 0:9e9b7db60fd5 164 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 165 _success_type success;
garyservin 0:9e9b7db60fd5 166 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 167 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 168
garyservin 0:9e9b7db60fd5 169 SetModelConfigurationResponse():
garyservin 0:9e9b7db60fd5 170 success(0),
garyservin 0:9e9b7db60fd5 171 status_message("")
garyservin 0:9e9b7db60fd5 172 {
garyservin 0:9e9b7db60fd5 173 }
garyservin 0:9e9b7db60fd5 174
garyservin 0:9e9b7db60fd5 175 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 176 {
garyservin 0:9e9b7db60fd5 177 int offset = 0;
garyservin 0:9e9b7db60fd5 178 union {
garyservin 0:9e9b7db60fd5 179 bool real;
garyservin 0:9e9b7db60fd5 180 uint8_t base;
garyservin 0:9e9b7db60fd5 181 } u_success;
garyservin 0:9e9b7db60fd5 182 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 183 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 184 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 185 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 186 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 187 offset += 4;
garyservin 0:9e9b7db60fd5 188 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 189 offset += length_status_message;
garyservin 0:9e9b7db60fd5 190 return offset;
garyservin 0:9e9b7db60fd5 191 }
garyservin 0:9e9b7db60fd5 192
garyservin 0:9e9b7db60fd5 193 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 194 {
garyservin 0:9e9b7db60fd5 195 int offset = 0;
garyservin 0:9e9b7db60fd5 196 union {
garyservin 0:9e9b7db60fd5 197 bool real;
garyservin 0:9e9b7db60fd5 198 uint8_t base;
garyservin 0:9e9b7db60fd5 199 } u_success;
garyservin 0:9e9b7db60fd5 200 u_success.base = 0;
garyservin 0:9e9b7db60fd5 201 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 202 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 203 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 204 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 205 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 206 offset += 4;
garyservin 0:9e9b7db60fd5 207 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 208 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 209 }
garyservin 0:9e9b7db60fd5 210 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 211 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 212 offset += length_status_message;
garyservin 0:9e9b7db60fd5 213 return offset;
garyservin 0:9e9b7db60fd5 214 }
garyservin 0:9e9b7db60fd5 215
garyservin 0:9e9b7db60fd5 216 const char * getType(){ return SETMODELCONFIGURATION; };
garyservin 0:9e9b7db60fd5 217 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 218
garyservin 0:9e9b7db60fd5 219 };
garyservin 0:9e9b7db60fd5 220
garyservin 0:9e9b7db60fd5 221 class SetModelConfiguration {
garyservin 0:9e9b7db60fd5 222 public:
garyservin 0:9e9b7db60fd5 223 typedef SetModelConfigurationRequest Request;
garyservin 0:9e9b7db60fd5 224 typedef SetModelConfigurationResponse Response;
garyservin 0:9e9b7db60fd5 225 };
garyservin 0:9e9b7db60fd5 226
garyservin 0:9e9b7db60fd5 227 }
garyservin 0:9e9b7db60fd5 228 #endif