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/SetModelConfiguration.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_SERVICE_SetModelConfiguration_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetModelConfiguration_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
Gary Servin 0:04ac6be8229a 8 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SetModelConfigurationRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _model_name_type;
Gary Servin 0:04ac6be8229a 17 _model_name_type model_name;
Gary Servin 0:04ac6be8229a 18 typedef const char* _urdf_param_name_type;
Gary Servin 0:04ac6be8229a 19 _urdf_param_name_type urdf_param_name;
Gary Servin 0:04ac6be8229a 20 uint32_t joint_names_length;
Gary Servin 0:04ac6be8229a 21 typedef char* _joint_names_type;
Gary Servin 0:04ac6be8229a 22 _joint_names_type st_joint_names;
Gary Servin 0:04ac6be8229a 23 _joint_names_type * joint_names;
Gary Servin 0:04ac6be8229a 24 uint32_t joint_positions_length;
Gary Servin 0:04ac6be8229a 25 typedef double _joint_positions_type;
Gary Servin 0:04ac6be8229a 26 _joint_positions_type st_joint_positions;
Gary Servin 0:04ac6be8229a 27 _joint_positions_type * joint_positions;
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 SetModelConfigurationRequest():
Gary Servin 0:04ac6be8229a 30 model_name(""),
Gary Servin 0:04ac6be8229a 31 urdf_param_name(""),
Gary Servin 0:04ac6be8229a 32 joint_names_length(0), joint_names(NULL),
Gary Servin 0:04ac6be8229a 33 joint_positions_length(0), joint_positions(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 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_urdf_param_name = strlen(this->urdf_param_name);
Gary Servin 0:04ac6be8229a 46 varToArr(outbuffer + offset, length_urdf_param_name);
Gary Servin 0:04ac6be8229a 47 offset += 4;
Gary Servin 0:04ac6be8229a 48 memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name);
Gary Servin 0:04ac6be8229a 49 offset += length_urdf_param_name;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 offset += sizeof(this->joint_names_length);
Gary Servin 0:04ac6be8229a 55 for( uint32_t i = 0; i < joint_names_length; i++){
Gary Servin 0:04ac6be8229a 56 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
Gary Servin 0:04ac6be8229a 57 varToArr(outbuffer + offset, length_joint_namesi);
Gary Servin 0:04ac6be8229a 58 offset += 4;
Gary Servin 0:04ac6be8229a 59 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
Gary Servin 0:04ac6be8229a 60 offset += length_joint_namesi;
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->joint_positions_length);
Gary Servin 0:04ac6be8229a 67 for( uint32_t i = 0; i < joint_positions_length; i++){
Gary Servin 0:04ac6be8229a 68 union {
Gary Servin 0:04ac6be8229a 69 double real;
Gary Servin 0:04ac6be8229a 70 uint64_t base;
Gary Servin 0:04ac6be8229a 71 } u_joint_positionsi;
Gary Servin 0:04ac6be8229a 72 u_joint_positionsi.real = this->joint_positions[i];
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 81 offset += sizeof(this->joint_positions[i]);
Gary Servin 0:04ac6be8229a 82 }
Gary Servin 0:04ac6be8229a 83 return offset;
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 87 {
Gary Servin 0:04ac6be8229a 88 int offset = 0;
Gary Servin 0:04ac6be8229a 89 uint32_t length_model_name;
Gary Servin 0:04ac6be8229a 90 arrToVar(length_model_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 91 offset += 4;
Gary Servin 0:04ac6be8229a 92 for(unsigned int k= offset; k< offset+length_model_name; ++k){
Gary Servin 0:04ac6be8229a 93 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 94 }
Gary Servin 0:04ac6be8229a 95 inbuffer[offset+length_model_name-1]=0;
Gary Servin 0:04ac6be8229a 96 this->model_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 97 offset += length_model_name;
Gary Servin 0:04ac6be8229a 98 uint32_t length_urdf_param_name;
Gary Servin 0:04ac6be8229a 99 arrToVar(length_urdf_param_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 100 offset += 4;
Gary Servin 0:04ac6be8229a 101 for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){
Gary Servin 0:04ac6be8229a 102 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104 inbuffer[offset+length_urdf_param_name-1]=0;
Gary Servin 0:04ac6be8229a 105 this->urdf_param_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 106 offset += length_urdf_param_name;
Gary Servin 0:04ac6be8229a 107 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 108 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 109 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 110 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 111 offset += sizeof(this->joint_names_length);
Gary Servin 0:04ac6be8229a 112 if(joint_names_lengthT > joint_names_length)
Gary Servin 0:04ac6be8229a 113 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 114 joint_names_length = joint_names_lengthT;
Gary Servin 0:04ac6be8229a 115 for( uint32_t i = 0; i < joint_names_length; i++){
Gary Servin 0:04ac6be8229a 116 uint32_t length_st_joint_names;
Gary Servin 0:04ac6be8229a 117 arrToVar(length_st_joint_names, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 118 offset += 4;
Gary Servin 0:04ac6be8229a 119 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
Gary Servin 0:04ac6be8229a 120 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 121 }
Gary Servin 0:04ac6be8229a 122 inbuffer[offset+length_st_joint_names-1]=0;
Gary Servin 0:04ac6be8229a 123 this->st_joint_names = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 124 offset += length_st_joint_names;
Gary Servin 0:04ac6be8229a 125 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127 uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 128 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 129 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 130 joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 131 offset += sizeof(this->joint_positions_length);
Gary Servin 0:04ac6be8229a 132 if(joint_positions_lengthT > joint_positions_length)
Gary Servin 0:04ac6be8229a 133 this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double));
Gary Servin 0:04ac6be8229a 134 joint_positions_length = joint_positions_lengthT;
Gary Servin 0:04ac6be8229a 135 for( uint32_t i = 0; i < joint_positions_length; i++){
Gary Servin 0:04ac6be8229a 136 union {
Gary Servin 0:04ac6be8229a 137 double real;
Gary Servin 0:04ac6be8229a 138 uint64_t base;
Gary Servin 0:04ac6be8229a 139 } u_st_joint_positions;
Gary Servin 0:04ac6be8229a 140 u_st_joint_positions.base = 0;
Gary Servin 0:04ac6be8229a 141 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 142 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 143 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 144 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 145 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 146 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 147 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 148 u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 149 this->st_joint_positions = u_st_joint_positions.real;
Gary Servin 0:04ac6be8229a 150 offset += sizeof(this->st_joint_positions);
Gary Servin 0:04ac6be8229a 151 memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double));
Gary Servin 0:04ac6be8229a 152 }
Gary Servin 0:04ac6be8229a 153 return offset;
Gary Servin 0:04ac6be8229a 154 }
Gary Servin 0:04ac6be8229a 155
Gary Servin 0:04ac6be8229a 156 const char * getType(){ return SETMODELCONFIGURATION; };
Gary Servin 0:04ac6be8229a 157 const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; };
Gary Servin 0:04ac6be8229a 158
Gary Servin 0:04ac6be8229a 159 };
Gary Servin 0:04ac6be8229a 160
Gary Servin 0:04ac6be8229a 161 class SetModelConfigurationResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 162 {
Gary Servin 0:04ac6be8229a 163 public:
Gary Servin 0:04ac6be8229a 164 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 165 _success_type success;
Gary Servin 0:04ac6be8229a 166 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 167 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 168
Gary Servin 0:04ac6be8229a 169 SetModelConfigurationResponse():
Gary Servin 0:04ac6be8229a 170 success(0),
Gary Servin 0:04ac6be8229a 171 status_message("")
Gary Servin 0:04ac6be8229a 172 {
Gary Servin 0:04ac6be8229a 173 }
Gary Servin 0:04ac6be8229a 174
Gary Servin 0:04ac6be8229a 175 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 176 {
Gary Servin 0:04ac6be8229a 177 int offset = 0;
Gary Servin 0:04ac6be8229a 178 union {
Gary Servin 0:04ac6be8229a 179 bool real;
Gary Servin 0:04ac6be8229a 180 uint8_t base;
Gary Servin 0:04ac6be8229a 181 } u_success;
Gary Servin 0:04ac6be8229a 182 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 183 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 184 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 185 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 186 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 187 offset += 4;
Gary Servin 0:04ac6be8229a 188 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 189 offset += length_status_message;
Gary Servin 0:04ac6be8229a 190 return offset;
Gary Servin 0:04ac6be8229a 191 }
Gary Servin 0:04ac6be8229a 192
Gary Servin 0:04ac6be8229a 193 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 194 {
Gary Servin 0:04ac6be8229a 195 int offset = 0;
Gary Servin 0:04ac6be8229a 196 union {
Gary Servin 0:04ac6be8229a 197 bool real;
Gary Servin 0:04ac6be8229a 198 uint8_t base;
Gary Servin 0:04ac6be8229a 199 } u_success;
Gary Servin 0:04ac6be8229a 200 u_success.base = 0;
Gary Servin 0:04ac6be8229a 201 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 202 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 203 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 204 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 205 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 206 offset += 4;
Gary Servin 0:04ac6be8229a 207 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 208 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 209 }
Gary Servin 0:04ac6be8229a 210 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 211 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 212 offset += length_status_message;
Gary Servin 0:04ac6be8229a 213 return offset;
Gary Servin 0:04ac6be8229a 214 }
Gary Servin 0:04ac6be8229a 215
Gary Servin 0:04ac6be8229a 216 const char * getType(){ return SETMODELCONFIGURATION; };
Gary Servin 0:04ac6be8229a 217 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 218
Gary Servin 0:04ac6be8229a 219 };
Gary Servin 0:04ac6be8229a 220
Gary Servin 0:04ac6be8229a 221 class SetModelConfiguration {
Gary Servin 0:04ac6be8229a 222 public:
Gary Servin 0:04ac6be8229a 223 typedef SetModelConfigurationRequest Request;
Gary Servin 0:04ac6be8229a 224 typedef SetModelConfigurationResponse Response;
Gary Servin 0:04ac6be8229a 225 };
Gary Servin 0:04ac6be8229a 226
Gary Servin 0:04ac6be8229a 227 }
Gary Servin 0:04ac6be8229a 228 #endif