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/WorldState.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_gazebo_msgs_WorldState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_WorldState_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 "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 10 #include "geometry_msgs/Twist.h"
garyservin 0:9e9b7db60fd5 11 #include "geometry_msgs/Wrench.h"
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15
garyservin 0:9e9b7db60fd5 16 class WorldState : public ros::Msg
garyservin 0:9e9b7db60fd5 17 {
garyservin 0:9e9b7db60fd5 18 public:
garyservin 0:9e9b7db60fd5 19 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 20 _header_type header;
garyservin 0:9e9b7db60fd5 21 uint32_t name_length;
garyservin 0:9e9b7db60fd5 22 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 23 _name_type st_name;
garyservin 0:9e9b7db60fd5 24 _name_type * name;
garyservin 0:9e9b7db60fd5 25 uint32_t pose_length;
garyservin 0:9e9b7db60fd5 26 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 27 _pose_type st_pose;
garyservin 0:9e9b7db60fd5 28 _pose_type * pose;
garyservin 0:9e9b7db60fd5 29 uint32_t twist_length;
garyservin 0:9e9b7db60fd5 30 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 31 _twist_type st_twist;
garyservin 0:9e9b7db60fd5 32 _twist_type * twist;
garyservin 0:9e9b7db60fd5 33 uint32_t wrench_length;
garyservin 0:9e9b7db60fd5 34 typedef geometry_msgs::Wrench _wrench_type;
garyservin 0:9e9b7db60fd5 35 _wrench_type st_wrench;
garyservin 0:9e9b7db60fd5 36 _wrench_type * wrench;
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 WorldState():
garyservin 0:9e9b7db60fd5 39 header(),
garyservin 0:9e9b7db60fd5 40 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 41 pose_length(0), pose(NULL),
garyservin 0:9e9b7db60fd5 42 twist_length(0), twist(NULL),
garyservin 0:9e9b7db60fd5 43 wrench_length(0), wrench(NULL)
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 }
garyservin 0:9e9b7db60fd5 46
garyservin 0:9e9b7db60fd5 47 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 int offset = 0;
garyservin 0:9e9b7db60fd5 50 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 56 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 57 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 58 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 59 offset += 4;
garyservin 0:9e9b7db60fd5 60 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 61 offset += length_namei;
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 68 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 69 offset += this->pose[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 70 }
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 76 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 77 offset += this->twist[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->wrench_length);
garyservin 0:9e9b7db60fd5 84 for( uint32_t i = 0; i < wrench_length; i++){
garyservin 0:9e9b7db60fd5 85 offset += this->wrench[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 91 {
garyservin 0:9e9b7db60fd5 92 int offset = 0;
garyservin 0:9e9b7db60fd5 93 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 94 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 99 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 100 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 101 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 102 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 103 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 104 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 105 offset += 4;
garyservin 0:9e9b7db60fd5 106 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 107 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 110 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 111 offset += length_st_name;
garyservin 0:9e9b7db60fd5 112 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 113 }
garyservin 0:9e9b7db60fd5 114 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 115 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 116 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 117 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 118 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 119 if(pose_lengthT > pose_length)
garyservin 0:9e9b7db60fd5 120 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 121 pose_length = pose_lengthT;
garyservin 0:9e9b7db60fd5 122 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 123 offset += this->st_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 124 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 125 }
garyservin 0:9e9b7db60fd5 126 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 127 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 128 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 129 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 130 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 131 if(twist_lengthT > twist_length)
garyservin 0:9e9b7db60fd5 132 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 133 twist_length = twist_lengthT;
garyservin 0:9e9b7db60fd5 134 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 135 offset += this->st_twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 136 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 137 }
garyservin 0:9e9b7db60fd5 138 uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 139 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 140 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 141 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 142 offset += sizeof(this->wrench_length);
garyservin 0:9e9b7db60fd5 143 if(wrench_lengthT > wrench_length)
garyservin 0:9e9b7db60fd5 144 this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
garyservin 0:9e9b7db60fd5 145 wrench_length = wrench_lengthT;
garyservin 0:9e9b7db60fd5 146 for( uint32_t i = 0; i < wrench_length; i++){
garyservin 0:9e9b7db60fd5 147 offset += this->st_wrench.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 148 memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
garyservin 0:9e9b7db60fd5 149 }
garyservin 0:9e9b7db60fd5 150 return offset;
garyservin 0:9e9b7db60fd5 151 }
garyservin 0:9e9b7db60fd5 152
garyservin 0:9e9b7db60fd5 153 const char * getType(){ return "gazebo_msgs/WorldState"; };
garyservin 0:9e9b7db60fd5 154 const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; };
garyservin 0:9e9b7db60fd5 155
garyservin 0:9e9b7db60fd5 156 };
garyservin 0:9e9b7db60fd5 157
garyservin 0:9e9b7db60fd5 158 }
garyservin 0:9e9b7db60fd5 159 #endif