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/SpawnModel.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_SpawnModel_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_SpawnModel_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/Pose.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel"; |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class SpawnModelRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef const char* _model_name_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _model_name_type model_name; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef const char* _model_xml_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _model_xml_type model_xml; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef const char* _robot_namespace_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _robot_namespace_type robot_namespace; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef geometry_msgs::Pose _initial_pose_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _initial_pose_type initial_pose; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef const char* _reference_frame_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _reference_frame_type reference_frame; |
garyservin | 0:9e9b7db60fd5 | 27 | |
garyservin | 0:9e9b7db60fd5 | 28 | SpawnModelRequest(): |
garyservin | 0:9e9b7db60fd5 | 29 | model_name(""), |
garyservin | 0:9e9b7db60fd5 | 30 | model_xml(""), |
garyservin | 0:9e9b7db60fd5 | 31 | robot_namespace(""), |
garyservin | 0:9e9b7db60fd5 | 32 | initial_pose(), |
garyservin | 0:9e9b7db60fd5 | 33 | reference_frame("") |
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_model_xml = strlen(this->model_xml); |
garyservin | 0:9e9b7db60fd5 | 46 | varToArr(outbuffer + offset, length_model_xml); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 48 | memcpy(outbuffer + offset, this->model_xml, length_model_xml); |
garyservin | 0:9e9b7db60fd5 | 49 | offset += length_model_xml; |
garyservin | 0:9e9b7db60fd5 | 50 | uint32_t length_robot_namespace = strlen(this->robot_namespace); |
garyservin | 0:9e9b7db60fd5 | 51 | varToArr(outbuffer + offset, length_robot_namespace); |
garyservin | 0:9e9b7db60fd5 | 52 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 53 | memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace); |
garyservin | 0:9e9b7db60fd5 | 54 | offset += length_robot_namespace; |
garyservin | 0:9e9b7db60fd5 | 55 | offset += this->initial_pose.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 56 | uint32_t length_reference_frame = strlen(this->reference_frame); |
garyservin | 0:9e9b7db60fd5 | 57 | varToArr(outbuffer + offset, length_reference_frame); |
garyservin | 0:9e9b7db60fd5 | 58 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 59 | memcpy(outbuffer + offset, this->reference_frame, length_reference_frame); |
garyservin | 0:9e9b7db60fd5 | 60 | offset += length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 61 | return offset; |
garyservin | 0:9e9b7db60fd5 | 62 | } |
garyservin | 0:9e9b7db60fd5 | 63 | |
garyservin | 0:9e9b7db60fd5 | 64 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 65 | { |
garyservin | 0:9e9b7db60fd5 | 66 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 67 | uint32_t length_model_name; |
garyservin | 0:9e9b7db60fd5 | 68 | arrToVar(length_model_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 69 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 70 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 71 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | inbuffer[offset+length_model_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 74 | this->model_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 75 | offset += length_model_name; |
garyservin | 0:9e9b7db60fd5 | 76 | uint32_t length_model_xml; |
garyservin | 0:9e9b7db60fd5 | 77 | arrToVar(length_model_xml, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 78 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 79 | for(unsigned int k= offset; k< offset+length_model_xml; ++k){ |
garyservin | 0:9e9b7db60fd5 | 80 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 81 | } |
garyservin | 0:9e9b7db60fd5 | 82 | inbuffer[offset+length_model_xml-1]=0; |
garyservin | 0:9e9b7db60fd5 | 83 | this->model_xml = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 84 | offset += length_model_xml; |
garyservin | 0:9e9b7db60fd5 | 85 | uint32_t length_robot_namespace; |
garyservin | 0:9e9b7db60fd5 | 86 | arrToVar(length_robot_namespace, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 87 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 88 | for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){ |
garyservin | 0:9e9b7db60fd5 | 89 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 90 | } |
garyservin | 0:9e9b7db60fd5 | 91 | inbuffer[offset+length_robot_namespace-1]=0; |
garyservin | 0:9e9b7db60fd5 | 92 | this->robot_namespace = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 93 | offset += length_robot_namespace; |
garyservin | 0:9e9b7db60fd5 | 94 | offset += this->initial_pose.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 95 | uint32_t length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 96 | arrToVar(length_reference_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 97 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 98 | for(unsigned int k= offset; k< offset+length_reference_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 99 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 100 | } |
garyservin | 0:9e9b7db60fd5 | 101 | inbuffer[offset+length_reference_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 102 | this->reference_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 103 | offset += length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 104 | return offset; |
garyservin | 0:9e9b7db60fd5 | 105 | } |
garyservin | 0:9e9b7db60fd5 | 106 | |
garyservin | 0:9e9b7db60fd5 | 107 | const char * getType(){ return SPAWNMODEL; }; |
garyservin | 0:9e9b7db60fd5 | 108 | const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; }; |
garyservin | 0:9e9b7db60fd5 | 109 | |
garyservin | 0:9e9b7db60fd5 | 110 | }; |
garyservin | 0:9e9b7db60fd5 | 111 | |
garyservin | 0:9e9b7db60fd5 | 112 | class SpawnModelResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 113 | { |
garyservin | 0:9e9b7db60fd5 | 114 | public: |
garyservin | 0:9e9b7db60fd5 | 115 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 116 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 117 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 118 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 119 | |
garyservin | 0:9e9b7db60fd5 | 120 | SpawnModelResponse(): |
garyservin | 0:9e9b7db60fd5 | 121 | success(0), |
garyservin | 0:9e9b7db60fd5 | 122 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 123 | { |
garyservin | 0:9e9b7db60fd5 | 124 | } |
garyservin | 0:9e9b7db60fd5 | 125 | |
garyservin | 0:9e9b7db60fd5 | 126 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 127 | { |
garyservin | 0:9e9b7db60fd5 | 128 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 129 | union { |
garyservin | 0:9e9b7db60fd5 | 130 | bool real; |
garyservin | 0:9e9b7db60fd5 | 131 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 132 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 133 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 134 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 135 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 136 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 137 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 138 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 139 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 140 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 141 | return offset; |
garyservin | 0:9e9b7db60fd5 | 142 | } |
garyservin | 0:9e9b7db60fd5 | 143 | |
garyservin | 0:9e9b7db60fd5 | 144 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 145 | { |
garyservin | 0:9e9b7db60fd5 | 146 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 147 | union { |
garyservin | 0:9e9b7db60fd5 | 148 | bool real; |
garyservin | 0:9e9b7db60fd5 | 149 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 150 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 151 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 152 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 153 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 154 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 155 | uint32_t length_status_message; |
garyservin | 0:9e9b7db60fd5 | 156 | arrToVar(length_status_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 157 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 158 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 159 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 160 | } |
garyservin | 0:9e9b7db60fd5 | 161 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 162 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 163 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 164 | return offset; |
garyservin | 0:9e9b7db60fd5 | 165 | } |
garyservin | 0:9e9b7db60fd5 | 166 | |
garyservin | 0:9e9b7db60fd5 | 167 | const char * getType(){ return SPAWNMODEL; }; |
garyservin | 0:9e9b7db60fd5 | 168 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:9e9b7db60fd5 | 169 | |
garyservin | 0:9e9b7db60fd5 | 170 | }; |
garyservin | 0:9e9b7db60fd5 | 171 | |
garyservin | 0:9e9b7db60fd5 | 172 | class SpawnModel { |
garyservin | 0:9e9b7db60fd5 | 173 | public: |
garyservin | 0:9e9b7db60fd5 | 174 | typedef SpawnModelRequest Request; |
garyservin | 0:9e9b7db60fd5 | 175 | typedef SpawnModelResponse Response; |
garyservin | 0:9e9b7db60fd5 | 176 | }; |
garyservin | 0:9e9b7db60fd5 | 177 | |
garyservin | 0:9e9b7db60fd5 | 178 | } |
garyservin | 0:9e9b7db60fd5 | 179 | #endif |