Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/SpawnModel.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew 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