Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

gazebo_msgs/SpawnModel.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_SpawnModel_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SpawnModel_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7 #include "geometry_msgs/Pose.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class SpawnModelRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef const char* _model_name_type;
Gary Servin 0:04ac6be8229a 18 _model_name_type model_name;
Gary Servin 0:04ac6be8229a 19 typedef const char* _model_xml_type;
Gary Servin 0:04ac6be8229a 20 _model_xml_type model_xml;
Gary Servin 0:04ac6be8229a 21 typedef const char* _robot_namespace_type;
Gary Servin 0:04ac6be8229a 22 _robot_namespace_type robot_namespace;
Gary Servin 0:04ac6be8229a 23 typedef geometry_msgs::Pose _initial_pose_type;
Gary Servin 0:04ac6be8229a 24 _initial_pose_type initial_pose;
Gary Servin 0:04ac6be8229a 25 typedef const char* _reference_frame_type;
Gary Servin 0:04ac6be8229a 26 _reference_frame_type reference_frame;
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 SpawnModelRequest():
Gary Servin 0:04ac6be8229a 29 model_name(""),
Gary Servin 0:04ac6be8229a 30 model_xml(""),
Gary Servin 0:04ac6be8229a 31 robot_namespace(""),
Gary Servin 0:04ac6be8229a 32 initial_pose(),
Gary Servin 0:04ac6be8229a 33 reference_frame("")
Gary Servin 0:04ac6be8229a 34 {
Gary Servin 0:04ac6be8229a 35 }
Gary Servin 0:04ac6be8229a 36
Gary Servin 0:04ac6be8229a 37 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 int offset = 0;
Gary Servin 0:04ac6be8229a 40 uint32_t length_model_name = strlen(this->model_name);
Gary Servin 0:04ac6be8229a 41 varToArr(outbuffer + offset, length_model_name);
Gary Servin 0:04ac6be8229a 42 offset += 4;
Gary Servin 0:04ac6be8229a 43 memcpy(outbuffer + offset, this->model_name, length_model_name);
Gary Servin 0:04ac6be8229a 44 offset += length_model_name;
Gary Servin 0:04ac6be8229a 45 uint32_t length_model_xml = strlen(this->model_xml);
Gary Servin 0:04ac6be8229a 46 varToArr(outbuffer + offset, length_model_xml);
Gary Servin 0:04ac6be8229a 47 offset += 4;
Gary Servin 0:04ac6be8229a 48 memcpy(outbuffer + offset, this->model_xml, length_model_xml);
Gary Servin 0:04ac6be8229a 49 offset += length_model_xml;
Gary Servin 0:04ac6be8229a 50 uint32_t length_robot_namespace = strlen(this->robot_namespace);
Gary Servin 0:04ac6be8229a 51 varToArr(outbuffer + offset, length_robot_namespace);
Gary Servin 0:04ac6be8229a 52 offset += 4;
Gary Servin 0:04ac6be8229a 53 memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
Gary Servin 0:04ac6be8229a 54 offset += length_robot_namespace;
Gary Servin 0:04ac6be8229a 55 offset += this->initial_pose.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 56 uint32_t length_reference_frame = strlen(this->reference_frame);
Gary Servin 0:04ac6be8229a 57 varToArr(outbuffer + offset, length_reference_frame);
Gary Servin 0:04ac6be8229a 58 offset += 4;
Gary Servin 0:04ac6be8229a 59 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
Gary Servin 0:04ac6be8229a 60 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 61 return offset;
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63
Gary Servin 0:04ac6be8229a 64 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 65 {
Gary Servin 0:04ac6be8229a 66 int offset = 0;
Gary Servin 0:04ac6be8229a 67 uint32_t length_model_name;
Gary Servin 0:04ac6be8229a 68 arrToVar(length_model_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 69 offset += 4;
Gary Servin 0:04ac6be8229a 70 for(unsigned int k= offset; k< offset+length_model_name; ++k){
Gary Servin 0:04ac6be8229a 71 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 inbuffer[offset+length_model_name-1]=0;
Gary Servin 0:04ac6be8229a 74 this->model_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 75 offset += length_model_name;
Gary Servin 0:04ac6be8229a 76 uint32_t length_model_xml;
Gary Servin 0:04ac6be8229a 77 arrToVar(length_model_xml, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 78 offset += 4;
Gary Servin 0:04ac6be8229a 79 for(unsigned int k= offset; k< offset+length_model_xml; ++k){
Gary Servin 0:04ac6be8229a 80 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 81 }
Gary Servin 0:04ac6be8229a 82 inbuffer[offset+length_model_xml-1]=0;
Gary Servin 0:04ac6be8229a 83 this->model_xml = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 84 offset += length_model_xml;
Gary Servin 0:04ac6be8229a 85 uint32_t length_robot_namespace;
Gary Servin 0:04ac6be8229a 86 arrToVar(length_robot_namespace, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 87 offset += 4;
Gary Servin 0:04ac6be8229a 88 for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
Gary Servin 0:04ac6be8229a 89 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91 inbuffer[offset+length_robot_namespace-1]=0;
Gary Servin 0:04ac6be8229a 92 this->robot_namespace = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 93 offset += length_robot_namespace;
Gary Servin 0:04ac6be8229a 94 offset += this->initial_pose.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 95 uint32_t length_reference_frame;
Gary Servin 0:04ac6be8229a 96 arrToVar(length_reference_frame, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 97 offset += 4;
Gary Servin 0:04ac6be8229a 98 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
Gary Servin 0:04ac6be8229a 99 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 100 }
Gary Servin 0:04ac6be8229a 101 inbuffer[offset+length_reference_frame-1]=0;
Gary Servin 0:04ac6be8229a 102 this->reference_frame = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 103 offset += length_reference_frame;
Gary Servin 0:04ac6be8229a 104 return offset;
Gary Servin 0:04ac6be8229a 105 }
Gary Servin 0:04ac6be8229a 106
Gary Servin 0:04ac6be8229a 107 const char * getType(){ return SPAWNMODEL; };
Gary Servin 0:04ac6be8229a 108 const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
Gary Servin 0:04ac6be8229a 109
Gary Servin 0:04ac6be8229a 110 };
Gary Servin 0:04ac6be8229a 111
Gary Servin 0:04ac6be8229a 112 class SpawnModelResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 113 {
Gary Servin 0:04ac6be8229a 114 public:
Gary Servin 0:04ac6be8229a 115 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 116 _success_type success;
Gary Servin 0:04ac6be8229a 117 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 118 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 119
Gary Servin 0:04ac6be8229a 120 SpawnModelResponse():
Gary Servin 0:04ac6be8229a 121 success(0),
Gary Servin 0:04ac6be8229a 122 status_message("")
Gary Servin 0:04ac6be8229a 123 {
Gary Servin 0:04ac6be8229a 124 }
Gary Servin 0:04ac6be8229a 125
Gary Servin 0:04ac6be8229a 126 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 127 {
Gary Servin 0:04ac6be8229a 128 int offset = 0;
Gary Servin 0:04ac6be8229a 129 union {
Gary Servin 0:04ac6be8229a 130 bool real;
Gary Servin 0:04ac6be8229a 131 uint8_t base;
Gary Servin 0:04ac6be8229a 132 } u_success;
Gary Servin 0:04ac6be8229a 133 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 134 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 135 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 136 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 137 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 138 offset += 4;
Gary Servin 0:04ac6be8229a 139 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 140 offset += length_status_message;
Gary Servin 0:04ac6be8229a 141 return offset;
Gary Servin 0:04ac6be8229a 142 }
Gary Servin 0:04ac6be8229a 143
Gary Servin 0:04ac6be8229a 144 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 145 {
Gary Servin 0:04ac6be8229a 146 int offset = 0;
Gary Servin 0:04ac6be8229a 147 union {
Gary Servin 0:04ac6be8229a 148 bool real;
Gary Servin 0:04ac6be8229a 149 uint8_t base;
Gary Servin 0:04ac6be8229a 150 } u_success;
Gary Servin 0:04ac6be8229a 151 u_success.base = 0;
Gary Servin 0:04ac6be8229a 152 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 153 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 154 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 155 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 156 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 157 offset += 4;
Gary Servin 0:04ac6be8229a 158 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 159 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 160 }
Gary Servin 0:04ac6be8229a 161 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 162 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 163 offset += length_status_message;
Gary Servin 0:04ac6be8229a 164 return offset;
Gary Servin 0:04ac6be8229a 165 }
Gary Servin 0:04ac6be8229a 166
Gary Servin 0:04ac6be8229a 167 const char * getType(){ return SPAWNMODEL; };
Gary Servin 0:04ac6be8229a 168 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 169
Gary Servin 0:04ac6be8229a 170 };
Gary Servin 0:04ac6be8229a 171
Gary Servin 0:04ac6be8229a 172 class SpawnModel {
Gary Servin 0:04ac6be8229a 173 public:
Gary Servin 0:04ac6be8229a 174 typedef SpawnModelRequest Request;
Gary Servin 0:04ac6be8229a 175 typedef SpawnModelResponse Response;
Gary Servin 0:04ac6be8229a 176 };
Gary Servin 0:04ac6be8229a 177
Gary Servin 0:04ac6be8229a 178 }
Gary Servin 0:04ac6be8229a 179 #endif