ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

gazebo_msgs/GetLinkState.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_GetLinkState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_GetLinkState_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7 #include "gazebo_msgs/LinkState.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class GetLinkStateRequest : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* link_name;
garyservin 0:fd24f7ca9688 18 const char* reference_frame;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 GetLinkStateRequest():
garyservin 0:fd24f7ca9688 21 link_name(""),
garyservin 0:fd24f7ca9688 22 reference_frame("")
garyservin 0:fd24f7ca9688 23 {
garyservin 0:fd24f7ca9688 24 }
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 int offset = 0;
garyservin 0:fd24f7ca9688 29 uint32_t length_link_name = strlen(this->link_name);
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 31 offset += 4;
garyservin 0:fd24f7ca9688 32 memcpy(outbuffer + offset, this->link_name, length_link_name);
garyservin 0:fd24f7ca9688 33 offset += length_link_name;
garyservin 0:fd24f7ca9688 34 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:fd24f7ca9688 35 memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 36 offset += 4;
garyservin 0:fd24f7ca9688 37 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:fd24f7ca9688 38 offset += length_reference_frame;
garyservin 0:fd24f7ca9688 39 return offset;
garyservin 0:fd24f7ca9688 40 }
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 int offset = 0;
garyservin 0:fd24f7ca9688 45 uint32_t length_link_name;
garyservin 0:fd24f7ca9688 46 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 47 offset += 4;
garyservin 0:fd24f7ca9688 48 for(unsigned int k= offset; k< offset+length_link_name; ++k){
garyservin 0:fd24f7ca9688 49 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 50 }
garyservin 0:fd24f7ca9688 51 inbuffer[offset+length_link_name-1]=0;
garyservin 0:fd24f7ca9688 52 this->link_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 53 offset += length_link_name;
garyservin 0:fd24f7ca9688 54 uint32_t length_reference_frame;
garyservin 0:fd24f7ca9688 55 memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 56 offset += 4;
garyservin 0:fd24f7ca9688 57 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:fd24f7ca9688 58 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 59 }
garyservin 0:fd24f7ca9688 60 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:fd24f7ca9688 61 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 62 offset += length_reference_frame;
garyservin 0:fd24f7ca9688 63 return offset;
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 const char * getType(){ return GETLINKSTATE; };
garyservin 0:fd24f7ca9688 67 const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
garyservin 0:fd24f7ca9688 68
garyservin 0:fd24f7ca9688 69 };
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 class GetLinkStateResponse : public ros::Msg
garyservin 0:fd24f7ca9688 72 {
garyservin 0:fd24f7ca9688 73 public:
garyservin 0:fd24f7ca9688 74 gazebo_msgs::LinkState link_state;
garyservin 0:fd24f7ca9688 75 bool success;
garyservin 0:fd24f7ca9688 76 const char* status_message;
garyservin 0:fd24f7ca9688 77
garyservin 0:fd24f7ca9688 78 GetLinkStateResponse():
garyservin 0:fd24f7ca9688 79 link_state(),
garyservin 0:fd24f7ca9688 80 success(0),
garyservin 0:fd24f7ca9688 81 status_message("")
garyservin 0:fd24f7ca9688 82 {
garyservin 0:fd24f7ca9688 83 }
garyservin 0:fd24f7ca9688 84
garyservin 0:fd24f7ca9688 85 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 86 {
garyservin 0:fd24f7ca9688 87 int offset = 0;
garyservin 0:fd24f7ca9688 88 offset += this->link_state.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 89 union {
garyservin 0:fd24f7ca9688 90 bool real;
garyservin 0:fd24f7ca9688 91 uint8_t base;
garyservin 0:fd24f7ca9688 92 } u_success;
garyservin 0:fd24f7ca9688 93 u_success.real = this->success;
garyservin 0:fd24f7ca9688 94 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 95 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 96 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 97 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 98 offset += 4;
garyservin 0:fd24f7ca9688 99 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 100 offset += length_status_message;
garyservin 0:fd24f7ca9688 101 return offset;
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103
garyservin 0:fd24f7ca9688 104 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 105 {
garyservin 0:fd24f7ca9688 106 int offset = 0;
garyservin 0:fd24f7ca9688 107 offset += this->link_state.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 108 union {
garyservin 0:fd24f7ca9688 109 bool real;
garyservin 0:fd24f7ca9688 110 uint8_t base;
garyservin 0:fd24f7ca9688 111 } u_success;
garyservin 0:fd24f7ca9688 112 u_success.base = 0;
garyservin 0:fd24f7ca9688 113 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 114 this->success = u_success.real;
garyservin 0:fd24f7ca9688 115 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 116 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 117 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 118 offset += 4;
garyservin 0:fd24f7ca9688 119 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 120 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 121 }
garyservin 0:fd24f7ca9688 122 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 123 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 124 offset += length_status_message;
garyservin 0:fd24f7ca9688 125 return offset;
garyservin 0:fd24f7ca9688 126 }
garyservin 0:fd24f7ca9688 127
garyservin 0:fd24f7ca9688 128 const char * getType(){ return GETLINKSTATE; };
garyservin 0:fd24f7ca9688 129 const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
garyservin 0:fd24f7ca9688 130
garyservin 0:fd24f7ca9688 131 };
garyservin 0:fd24f7ca9688 132
garyservin 0:fd24f7ca9688 133 class GetLinkState {
garyservin 0:fd24f7ca9688 134 public:
garyservin 0:fd24f7ca9688 135 typedef GetLinkStateRequest Request;
garyservin 0:fd24f7ca9688 136 typedef GetLinkStateResponse Response;
garyservin 0:fd24f7ca9688 137 };
garyservin 0:fd24f7ca9688 138
garyservin 0:fd24f7ca9688 139 }
garyservin 0:fd24f7ca9688 140 #endif