Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nodelet/NodeletLoad.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_NodeletLoad_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_NodeletLoad_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 nodelet
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char NODELETLOAD[] = "nodelet/NodeletLoad";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class NodeletLoadRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 17 _name_type name;
garyservin 0:9e9b7db60fd5 18 typedef const char* _type_type;
garyservin 0:9e9b7db60fd5 19 _type_type type;
garyservin 0:9e9b7db60fd5 20 uint32_t remap_source_args_length;
garyservin 0:9e9b7db60fd5 21 typedef char* _remap_source_args_type;
garyservin 0:9e9b7db60fd5 22 _remap_source_args_type st_remap_source_args;
garyservin 0:9e9b7db60fd5 23 _remap_source_args_type * remap_source_args;
garyservin 0:9e9b7db60fd5 24 uint32_t remap_target_args_length;
garyservin 0:9e9b7db60fd5 25 typedef char* _remap_target_args_type;
garyservin 0:9e9b7db60fd5 26 _remap_target_args_type st_remap_target_args;
garyservin 0:9e9b7db60fd5 27 _remap_target_args_type * remap_target_args;
garyservin 0:9e9b7db60fd5 28 uint32_t my_argv_length;
garyservin 0:9e9b7db60fd5 29 typedef char* _my_argv_type;
garyservin 0:9e9b7db60fd5 30 _my_argv_type st_my_argv;
garyservin 0:9e9b7db60fd5 31 _my_argv_type * my_argv;
garyservin 0:9e9b7db60fd5 32 typedef const char* _bond_id_type;
garyservin 0:9e9b7db60fd5 33 _bond_id_type bond_id;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 NodeletLoadRequest():
garyservin 0:9e9b7db60fd5 36 name(""),
garyservin 0:9e9b7db60fd5 37 type(""),
garyservin 0:9e9b7db60fd5 38 remap_source_args_length(0), remap_source_args(NULL),
garyservin 0:9e9b7db60fd5 39 remap_target_args_length(0), remap_target_args(NULL),
garyservin 0:9e9b7db60fd5 40 my_argv_length(0), my_argv(NULL),
garyservin 0:9e9b7db60fd5 41 bond_id("")
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 int offset = 0;
garyservin 0:9e9b7db60fd5 48 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 49 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 50 offset += 4;
garyservin 0:9e9b7db60fd5 51 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 52 offset += length_name;
garyservin 0:9e9b7db60fd5 53 uint32_t length_type = strlen(this->type);
garyservin 0:9e9b7db60fd5 54 varToArr(outbuffer + offset, length_type);
garyservin 0:9e9b7db60fd5 55 offset += 4;
garyservin 0:9e9b7db60fd5 56 memcpy(outbuffer + offset, this->type, length_type);
garyservin 0:9e9b7db60fd5 57 offset += length_type;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (this->remap_source_args_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 1) = (this->remap_source_args_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 2) = (this->remap_source_args_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 3) = (this->remap_source_args_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->remap_source_args_length);
garyservin 0:9e9b7db60fd5 63 for( uint32_t i = 0; i < remap_source_args_length; i++){
garyservin 0:9e9b7db60fd5 64 uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]);
garyservin 0:9e9b7db60fd5 65 varToArr(outbuffer + offset, length_remap_source_argsi);
garyservin 0:9e9b7db60fd5 66 offset += 4;
garyservin 0:9e9b7db60fd5 67 memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi);
garyservin 0:9e9b7db60fd5 68 offset += length_remap_source_argsi;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->remap_target_args_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (this->remap_target_args_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (this->remap_target_args_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (this->remap_target_args_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->remap_target_args_length);
garyservin 0:9e9b7db60fd5 75 for( uint32_t i = 0; i < remap_target_args_length; i++){
garyservin 0:9e9b7db60fd5 76 uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]);
garyservin 0:9e9b7db60fd5 77 varToArr(outbuffer + offset, length_remap_target_argsi);
garyservin 0:9e9b7db60fd5 78 offset += 4;
garyservin 0:9e9b7db60fd5 79 memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi);
garyservin 0:9e9b7db60fd5 80 offset += length_remap_target_argsi;
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 0) = (this->my_argv_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 1) = (this->my_argv_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 2) = (this->my_argv_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 3) = (this->my_argv_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->my_argv_length);
garyservin 0:9e9b7db60fd5 87 for( uint32_t i = 0; i < my_argv_length; i++){
garyservin 0:9e9b7db60fd5 88 uint32_t length_my_argvi = strlen(this->my_argv[i]);
garyservin 0:9e9b7db60fd5 89 varToArr(outbuffer + offset, length_my_argvi);
garyservin 0:9e9b7db60fd5 90 offset += 4;
garyservin 0:9e9b7db60fd5 91 memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi);
garyservin 0:9e9b7db60fd5 92 offset += length_my_argvi;
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94 uint32_t length_bond_id = strlen(this->bond_id);
garyservin 0:9e9b7db60fd5 95 varToArr(outbuffer + offset, length_bond_id);
garyservin 0:9e9b7db60fd5 96 offset += 4;
garyservin 0:9e9b7db60fd5 97 memcpy(outbuffer + offset, this->bond_id, length_bond_id);
garyservin 0:9e9b7db60fd5 98 offset += length_bond_id;
garyservin 0:9e9b7db60fd5 99 return offset;
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101
garyservin 0:9e9b7db60fd5 102 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 103 {
garyservin 0:9e9b7db60fd5 104 int offset = 0;
garyservin 0:9e9b7db60fd5 105 uint32_t length_name;
garyservin 0:9e9b7db60fd5 106 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 107 offset += 4;
garyservin 0:9e9b7db60fd5 108 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 109 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 110 }
garyservin 0:9e9b7db60fd5 111 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 112 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 113 offset += length_name;
garyservin 0:9e9b7db60fd5 114 uint32_t length_type;
garyservin 0:9e9b7db60fd5 115 arrToVar(length_type, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 116 offset += 4;
garyservin 0:9e9b7db60fd5 117 for(unsigned int k= offset; k< offset+length_type; ++k){
garyservin 0:9e9b7db60fd5 118 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120 inbuffer[offset+length_type-1]=0;
garyservin 0:9e9b7db60fd5 121 this->type = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 122 offset += length_type;
garyservin 0:9e9b7db60fd5 123 uint32_t remap_source_args_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 124 remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 125 remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 126 remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 127 offset += sizeof(this->remap_source_args_length);
garyservin 0:9e9b7db60fd5 128 if(remap_source_args_lengthT > remap_source_args_length)
garyservin 0:9e9b7db60fd5 129 this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 130 remap_source_args_length = remap_source_args_lengthT;
garyservin 0:9e9b7db60fd5 131 for( uint32_t i = 0; i < remap_source_args_length; i++){
garyservin 0:9e9b7db60fd5 132 uint32_t length_st_remap_source_args;
garyservin 0:9e9b7db60fd5 133 arrToVar(length_st_remap_source_args, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 134 offset += 4;
garyservin 0:9e9b7db60fd5 135 for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){
garyservin 0:9e9b7db60fd5 136 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 137 }
garyservin 0:9e9b7db60fd5 138 inbuffer[offset+length_st_remap_source_args-1]=0;
garyservin 0:9e9b7db60fd5 139 this->st_remap_source_args = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 140 offset += length_st_remap_source_args;
garyservin 0:9e9b7db60fd5 141 memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*));
garyservin 0:9e9b7db60fd5 142 }
garyservin 0:9e9b7db60fd5 143 uint32_t remap_target_args_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 144 remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 145 remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 146 remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 147 offset += sizeof(this->remap_target_args_length);
garyservin 0:9e9b7db60fd5 148 if(remap_target_args_lengthT > remap_target_args_length)
garyservin 0:9e9b7db60fd5 149 this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 150 remap_target_args_length = remap_target_args_lengthT;
garyservin 0:9e9b7db60fd5 151 for( uint32_t i = 0; i < remap_target_args_length; i++){
garyservin 0:9e9b7db60fd5 152 uint32_t length_st_remap_target_args;
garyservin 0:9e9b7db60fd5 153 arrToVar(length_st_remap_target_args, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 154 offset += 4;
garyservin 0:9e9b7db60fd5 155 for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){
garyservin 0:9e9b7db60fd5 156 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 157 }
garyservin 0:9e9b7db60fd5 158 inbuffer[offset+length_st_remap_target_args-1]=0;
garyservin 0:9e9b7db60fd5 159 this->st_remap_target_args = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 160 offset += length_st_remap_target_args;
garyservin 0:9e9b7db60fd5 161 memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*));
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 uint32_t my_argv_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 164 my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 165 my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 166 my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 167 offset += sizeof(this->my_argv_length);
garyservin 0:9e9b7db60fd5 168 if(my_argv_lengthT > my_argv_length)
garyservin 0:9e9b7db60fd5 169 this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 170 my_argv_length = my_argv_lengthT;
garyservin 0:9e9b7db60fd5 171 for( uint32_t i = 0; i < my_argv_length; i++){
garyservin 0:9e9b7db60fd5 172 uint32_t length_st_my_argv;
garyservin 0:9e9b7db60fd5 173 arrToVar(length_st_my_argv, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 174 offset += 4;
garyservin 0:9e9b7db60fd5 175 for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){
garyservin 0:9e9b7db60fd5 176 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 177 }
garyservin 0:9e9b7db60fd5 178 inbuffer[offset+length_st_my_argv-1]=0;
garyservin 0:9e9b7db60fd5 179 this->st_my_argv = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 180 offset += length_st_my_argv;
garyservin 0:9e9b7db60fd5 181 memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*));
garyservin 0:9e9b7db60fd5 182 }
garyservin 0:9e9b7db60fd5 183 uint32_t length_bond_id;
garyservin 0:9e9b7db60fd5 184 arrToVar(length_bond_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 185 offset += 4;
garyservin 0:9e9b7db60fd5 186 for(unsigned int k= offset; k< offset+length_bond_id; ++k){
garyservin 0:9e9b7db60fd5 187 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 188 }
garyservin 0:9e9b7db60fd5 189 inbuffer[offset+length_bond_id-1]=0;
garyservin 0:9e9b7db60fd5 190 this->bond_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 191 offset += length_bond_id;
garyservin 0:9e9b7db60fd5 192 return offset;
garyservin 0:9e9b7db60fd5 193 }
garyservin 0:9e9b7db60fd5 194
garyservin 0:9e9b7db60fd5 195 const char * getType(){ return NODELETLOAD; };
garyservin 0:9e9b7db60fd5 196 const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; };
garyservin 0:9e9b7db60fd5 197
garyservin 0:9e9b7db60fd5 198 };
garyservin 0:9e9b7db60fd5 199
garyservin 0:9e9b7db60fd5 200 class NodeletLoadResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 201 {
garyservin 0:9e9b7db60fd5 202 public:
garyservin 0:9e9b7db60fd5 203 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 204 _success_type success;
garyservin 0:9e9b7db60fd5 205
garyservin 0:9e9b7db60fd5 206 NodeletLoadResponse():
garyservin 0:9e9b7db60fd5 207 success(0)
garyservin 0:9e9b7db60fd5 208 {
garyservin 0:9e9b7db60fd5 209 }
garyservin 0:9e9b7db60fd5 210
garyservin 0:9e9b7db60fd5 211 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 212 {
garyservin 0:9e9b7db60fd5 213 int offset = 0;
garyservin 0:9e9b7db60fd5 214 union {
garyservin 0:9e9b7db60fd5 215 bool real;
garyservin 0:9e9b7db60fd5 216 uint8_t base;
garyservin 0:9e9b7db60fd5 217 } u_success;
garyservin 0:9e9b7db60fd5 218 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 219 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 220 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 221 return offset;
garyservin 0:9e9b7db60fd5 222 }
garyservin 0:9e9b7db60fd5 223
garyservin 0:9e9b7db60fd5 224 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 225 {
garyservin 0:9e9b7db60fd5 226 int offset = 0;
garyservin 0:9e9b7db60fd5 227 union {
garyservin 0:9e9b7db60fd5 228 bool real;
garyservin 0:9e9b7db60fd5 229 uint8_t base;
garyservin 0:9e9b7db60fd5 230 } u_success;
garyservin 0:9e9b7db60fd5 231 u_success.base = 0;
garyservin 0:9e9b7db60fd5 232 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 233 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 234 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 235 return offset;
garyservin 0:9e9b7db60fd5 236 }
garyservin 0:9e9b7db60fd5 237
garyservin 0:9e9b7db60fd5 238 const char * getType(){ return NODELETLOAD; };
garyservin 0:9e9b7db60fd5 239 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
garyservin 0:9e9b7db60fd5 240
garyservin 0:9e9b7db60fd5 241 };
garyservin 0:9e9b7db60fd5 242
garyservin 0:9e9b7db60fd5 243 class NodeletLoad {
garyservin 0:9e9b7db60fd5 244 public:
garyservin 0:9e9b7db60fd5 245 typedef NodeletLoadRequest Request;
garyservin 0:9e9b7db60fd5 246 typedef NodeletLoadResponse Response;
garyservin 0:9e9b7db60fd5 247 };
garyservin 0:9e9b7db60fd5 248
garyservin 0:9e9b7db60fd5 249 }
garyservin 0:9e9b7db60fd5 250 #endif