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/LinkStates.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_gazebo_msgs_LinkStates_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_gazebo_msgs_LinkStates_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/Pose.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/Twist.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class LinkStates : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 uint32_t name_length;
Gary Servin 0:04ac6be8229a 18 typedef char* _name_type;
Gary Servin 0:04ac6be8229a 19 _name_type st_name;
Gary Servin 0:04ac6be8229a 20 _name_type * name;
Gary Servin 0:04ac6be8229a 21 uint32_t pose_length;
Gary Servin 0:04ac6be8229a 22 typedef geometry_msgs::Pose _pose_type;
Gary Servin 0:04ac6be8229a 23 _pose_type st_pose;
Gary Servin 0:04ac6be8229a 24 _pose_type * pose;
Gary Servin 0:04ac6be8229a 25 uint32_t twist_length;
Gary Servin 0:04ac6be8229a 26 typedef geometry_msgs::Twist _twist_type;
Gary Servin 0:04ac6be8229a 27 _twist_type st_twist;
Gary Servin 0:04ac6be8229a 28 _twist_type * twist;
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 LinkStates():
Gary Servin 0:04ac6be8229a 31 name_length(0), name(NULL),
Gary Servin 0:04ac6be8229a 32 pose_length(0), pose(NULL),
Gary Servin 0:04ac6be8229a 33 twist_length(0), twist(NULL)
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 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 offset += sizeof(this->name_length);
Gary Servin 0:04ac6be8229a 45 for( uint32_t i = 0; i < name_length; i++){
Gary Servin 0:04ac6be8229a 46 uint32_t length_namei = strlen(this->name[i]);
Gary Servin 0:04ac6be8229a 47 varToArr(outbuffer + offset, length_namei);
Gary Servin 0:04ac6be8229a 48 offset += 4;
Gary Servin 0:04ac6be8229a 49 memcpy(outbuffer + offset, this->name[i], length_namei);
Gary Servin 0:04ac6be8229a 50 offset += length_namei;
Gary Servin 0:04ac6be8229a 51 }
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->pose_length);
Gary Servin 0:04ac6be8229a 57 for( uint32_t i = 0; i < pose_length; i++){
Gary Servin 0:04ac6be8229a 58 offset += this->pose[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->twist_length);
Gary Servin 0:04ac6be8229a 65 for( uint32_t i = 0; i < twist_length; i++){
Gary Servin 0:04ac6be8229a 66 offset += this->twist[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 67 }
Gary Servin 0:04ac6be8229a 68 return offset;
Gary Servin 0:04ac6be8229a 69 }
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 72 {
Gary Servin 0:04ac6be8229a 73 int offset = 0;
Gary Servin 0:04ac6be8229a 74 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 75 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 76 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 77 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->name_length);
Gary Servin 0:04ac6be8229a 79 if(name_lengthT > name_length)
Gary Servin 0:04ac6be8229a 80 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 81 name_length = name_lengthT;
Gary Servin 0:04ac6be8229a 82 for( uint32_t i = 0; i < name_length; i++){
Gary Servin 0:04ac6be8229a 83 uint32_t length_st_name;
Gary Servin 0:04ac6be8229a 84 arrToVar(length_st_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 85 offset += 4;
Gary Servin 0:04ac6be8229a 86 for(unsigned int k= offset; k< offset+length_st_name; ++k){
Gary Servin 0:04ac6be8229a 87 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89 inbuffer[offset+length_st_name-1]=0;
Gary Servin 0:04ac6be8229a 90 this->st_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 91 offset += length_st_name;
Gary Servin 0:04ac6be8229a 92 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
Gary Servin 0:04ac6be8229a 93 }
Gary Servin 0:04ac6be8229a 94 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 95 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 96 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 97 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->pose_length);
Gary Servin 0:04ac6be8229a 99 if(pose_lengthT > pose_length)
Gary Servin 0:04ac6be8229a 100 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
Gary Servin 0:04ac6be8229a 101 pose_length = pose_lengthT;
Gary Servin 0:04ac6be8229a 102 for( uint32_t i = 0; i < pose_length; i++){
Gary Servin 0:04ac6be8229a 103 offset += this->st_pose.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 104 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
Gary Servin 0:04ac6be8229a 105 }
Gary Servin 0:04ac6be8229a 106 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 107 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 108 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 109 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 110 offset += sizeof(this->twist_length);
Gary Servin 0:04ac6be8229a 111 if(twist_lengthT > twist_length)
Gary Servin 0:04ac6be8229a 112 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
Gary Servin 0:04ac6be8229a 113 twist_length = twist_lengthT;
Gary Servin 0:04ac6be8229a 114 for( uint32_t i = 0; i < twist_length; i++){
Gary Servin 0:04ac6be8229a 115 offset += this->st_twist.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 116 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
Gary Servin 0:04ac6be8229a 117 }
Gary Servin 0:04ac6be8229a 118 return offset;
Gary Servin 0:04ac6be8229a 119 }
Gary Servin 0:04ac6be8229a 120
Gary Servin 0:04ac6be8229a 121 const char * getType(){ return "gazebo_msgs/LinkStates"; };
Gary Servin 0:04ac6be8229a 122 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
Gary Servin 0:04ac6be8229a 123
Gary Servin 0:04ac6be8229a 124 };
Gary Servin 0:04ac6be8229a 125
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127 #endif