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/GetPhysicsProperties.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_GetPhysicsProperties_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_GetPhysicsProperties_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/Vector3.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "gazebo_msgs/ODEPhysics.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties"; |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class GetPhysicsPropertiesRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | |
garyservin | 0:9e9b7db60fd5 | 19 | GetPhysicsPropertiesRequest() |
garyservin | 0:9e9b7db60fd5 | 20 | { |
garyservin | 0:9e9b7db60fd5 | 21 | } |
garyservin | 0:9e9b7db60fd5 | 22 | |
garyservin | 0:9e9b7db60fd5 | 23 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 24 | { |
garyservin | 0:9e9b7db60fd5 | 25 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 26 | return offset; |
garyservin | 0:9e9b7db60fd5 | 27 | } |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 30 | { |
garyservin | 0:9e9b7db60fd5 | 31 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 32 | return offset; |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | const char * getType(){ return GETPHYSICSPROPERTIES; }; |
garyservin | 0:9e9b7db60fd5 | 36 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | }; |
garyservin | 0:9e9b7db60fd5 | 39 | |
garyservin | 0:9e9b7db60fd5 | 40 | class GetPhysicsPropertiesResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 41 | { |
garyservin | 0:9e9b7db60fd5 | 42 | public: |
garyservin | 0:9e9b7db60fd5 | 43 | typedef double _time_step_type; |
garyservin | 0:9e9b7db60fd5 | 44 | _time_step_type time_step; |
garyservin | 0:9e9b7db60fd5 | 45 | typedef bool _pause_type; |
garyservin | 0:9e9b7db60fd5 | 46 | _pause_type pause; |
garyservin | 0:9e9b7db60fd5 | 47 | typedef double _max_update_rate_type; |
garyservin | 0:9e9b7db60fd5 | 48 | _max_update_rate_type max_update_rate; |
garyservin | 0:9e9b7db60fd5 | 49 | typedef geometry_msgs::Vector3 _gravity_type; |
garyservin | 0:9e9b7db60fd5 | 50 | _gravity_type gravity; |
garyservin | 0:9e9b7db60fd5 | 51 | typedef gazebo_msgs::ODEPhysics _ode_config_type; |
garyservin | 0:9e9b7db60fd5 | 52 | _ode_config_type ode_config; |
garyservin | 0:9e9b7db60fd5 | 53 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 54 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 55 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 56 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 57 | |
garyservin | 0:9e9b7db60fd5 | 58 | GetPhysicsPropertiesResponse(): |
garyservin | 0:9e9b7db60fd5 | 59 | time_step(0), |
garyservin | 0:9e9b7db60fd5 | 60 | pause(0), |
garyservin | 0:9e9b7db60fd5 | 61 | max_update_rate(0), |
garyservin | 0:9e9b7db60fd5 | 62 | gravity(), |
garyservin | 0:9e9b7db60fd5 | 63 | ode_config(), |
garyservin | 0:9e9b7db60fd5 | 64 | success(0), |
garyservin | 0:9e9b7db60fd5 | 65 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 66 | { |
garyservin | 0:9e9b7db60fd5 | 67 | } |
garyservin | 0:9e9b7db60fd5 | 68 | |
garyservin | 0:9e9b7db60fd5 | 69 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 70 | { |
garyservin | 0:9e9b7db60fd5 | 71 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 72 | union { |
garyservin | 0:9e9b7db60fd5 | 73 | double real; |
garyservin | 0:9e9b7db60fd5 | 74 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 75 | } u_time_step; |
garyservin | 0:9e9b7db60fd5 | 76 | u_time_step.real = this->time_step; |
garyservin | 0:9e9b7db60fd5 | 77 | *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 78 | *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 79 | *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 80 | *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 81 | *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | offset += sizeof(this->time_step); |
garyservin | 0:9e9b7db60fd5 | 86 | union { |
garyservin | 0:9e9b7db60fd5 | 87 | bool real; |
garyservin | 0:9e9b7db60fd5 | 88 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 89 | } u_pause; |
garyservin | 0:9e9b7db60fd5 | 90 | u_pause.real = this->pause; |
garyservin | 0:9e9b7db60fd5 | 91 | *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 92 | offset += sizeof(this->pause); |
garyservin | 0:9e9b7db60fd5 | 93 | union { |
garyservin | 0:9e9b7db60fd5 | 94 | double real; |
garyservin | 0:9e9b7db60fd5 | 95 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 96 | } u_max_update_rate; |
garyservin | 0:9e9b7db60fd5 | 97 | u_max_update_rate.real = this->max_update_rate; |
garyservin | 0:9e9b7db60fd5 | 98 | *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 99 | *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 100 | *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 101 | *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 102 | *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 103 | *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 104 | *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 105 | *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 106 | offset += sizeof(this->max_update_rate); |
garyservin | 0:9e9b7db60fd5 | 107 | offset += this->gravity.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 108 | offset += this->ode_config.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 109 | union { |
garyservin | 0:9e9b7db60fd5 | 110 | bool real; |
garyservin | 0:9e9b7db60fd5 | 111 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 112 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 113 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 114 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 115 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 116 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 117 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 118 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 119 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 120 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 121 | return offset; |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | |
garyservin | 0:9e9b7db60fd5 | 124 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 125 | { |
garyservin | 0:9e9b7db60fd5 | 126 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 127 | union { |
garyservin | 0:9e9b7db60fd5 | 128 | double real; |
garyservin | 0:9e9b7db60fd5 | 129 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 130 | } u_time_step; |
garyservin | 0:9e9b7db60fd5 | 131 | u_time_step.base = 0; |
garyservin | 0:9e9b7db60fd5 | 132 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 133 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 134 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 135 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 136 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 137 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 138 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 139 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 140 | this->time_step = u_time_step.real; |
garyservin | 0:9e9b7db60fd5 | 141 | offset += sizeof(this->time_step); |
garyservin | 0:9e9b7db60fd5 | 142 | union { |
garyservin | 0:9e9b7db60fd5 | 143 | bool real; |
garyservin | 0:9e9b7db60fd5 | 144 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 145 | } u_pause; |
garyservin | 0:9e9b7db60fd5 | 146 | u_pause.base = 0; |
garyservin | 0:9e9b7db60fd5 | 147 | u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 148 | this->pause = u_pause.real; |
garyservin | 0:9e9b7db60fd5 | 149 | offset += sizeof(this->pause); |
garyservin | 0:9e9b7db60fd5 | 150 | union { |
garyservin | 0:9e9b7db60fd5 | 151 | double real; |
garyservin | 0:9e9b7db60fd5 | 152 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 153 | } u_max_update_rate; |
garyservin | 0:9e9b7db60fd5 | 154 | u_max_update_rate.base = 0; |
garyservin | 0:9e9b7db60fd5 | 155 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 156 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 157 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 158 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 159 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 160 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 161 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 162 | u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 163 | this->max_update_rate = u_max_update_rate.real; |
garyservin | 0:9e9b7db60fd5 | 164 | offset += sizeof(this->max_update_rate); |
garyservin | 0:9e9b7db60fd5 | 165 | offset += this->gravity.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 166 | offset += this->ode_config.deserialize(inbuffer + offset); |
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 GETPHYSICSPROPERTIES; }; |
garyservin | 0:9e9b7db60fd5 | 188 | const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; }; |
garyservin | 0:9e9b7db60fd5 | 189 | |
garyservin | 0:9e9b7db60fd5 | 190 | }; |
garyservin | 0:9e9b7db60fd5 | 191 | |
garyservin | 0:9e9b7db60fd5 | 192 | class GetPhysicsProperties { |
garyservin | 0:9e9b7db60fd5 | 193 | public: |
garyservin | 0:9e9b7db60fd5 | 194 | typedef GetPhysicsPropertiesRequest Request; |
garyservin | 0:9e9b7db60fd5 | 195 | typedef GetPhysicsPropertiesResponse Response; |
garyservin | 0:9e9b7db60fd5 | 196 | }; |
garyservin | 0:9e9b7db60fd5 | 197 | |
garyservin | 0:9e9b7db60fd5 | 198 | } |
garyservin | 0:9e9b7db60fd5 | 199 | #endif |