Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
ApplyJointEffort.h
00001 #ifndef _ROS_SERVICE_ApplyJointEffort_h 00002 #define _ROS_SERVICE_ApplyJointEffort_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "ros/duration.h" 00008 #include "ros/time.h" 00009 00010 namespace gazebo_msgs 00011 { 00012 00013 static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort"; 00014 00015 class ApplyJointEffortRequest : public ros::Msg 00016 { 00017 public: 00018 typedef const char* _joint_name_type; 00019 _joint_name_type joint_name; 00020 typedef double _effort_type; 00021 _effort_type effort; 00022 typedef ros::Time _start_time_type; 00023 _start_time_type start_time; 00024 typedef ros::Duration _duration_type; 00025 _duration_type duration; 00026 00027 ApplyJointEffortRequest(): 00028 joint_name(""), 00029 effort(0), 00030 start_time(), 00031 duration() 00032 { 00033 } 00034 00035 virtual int serialize(unsigned char *outbuffer) const 00036 { 00037 int offset = 0; 00038 uint32_t length_joint_name = strlen(this->joint_name); 00039 varToArr(outbuffer + offset, length_joint_name); 00040 offset += 4; 00041 memcpy(outbuffer + offset, this->joint_name, length_joint_name); 00042 offset += length_joint_name; 00043 union { 00044 double real; 00045 uint64_t base; 00046 } u_effort; 00047 u_effort.real = this->effort; 00048 *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF; 00049 *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF; 00050 *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF; 00051 *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF; 00052 *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF; 00053 *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF; 00054 *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF; 00055 *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF; 00056 offset += sizeof(this->effort); 00057 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; 00058 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; 00059 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; 00060 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; 00061 offset += sizeof(this->start_time.sec); 00062 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; 00063 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; 00064 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; 00065 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; 00066 offset += sizeof(this->start_time.nsec); 00067 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; 00068 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; 00069 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; 00070 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; 00071 offset += sizeof(this->duration.sec); 00072 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; 00073 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; 00074 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; 00075 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; 00076 offset += sizeof(this->duration.nsec); 00077 return offset; 00078 } 00079 00080 virtual int deserialize(unsigned char *inbuffer) 00081 { 00082 int offset = 0; 00083 uint32_t length_joint_name; 00084 arrToVar(length_joint_name, (inbuffer + offset)); 00085 offset += 4; 00086 for(unsigned int k= offset; k< offset+length_joint_name; ++k){ 00087 inbuffer[k-1]=inbuffer[k]; 00088 } 00089 inbuffer[offset+length_joint_name-1]=0; 00090 this->joint_name = (char *)(inbuffer + offset-1); 00091 offset += length_joint_name; 00092 union { 00093 double real; 00094 uint64_t base; 00095 } u_effort; 00096 u_effort.base = 0; 00097 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00098 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00099 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00100 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00101 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00102 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00103 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00104 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00105 this->effort = u_effort.real; 00106 offset += sizeof(this->effort); 00107 this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); 00108 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00109 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00110 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00111 offset += sizeof(this->start_time.sec); 00112 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); 00113 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00114 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00115 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00116 offset += sizeof(this->start_time.nsec); 00117 this->duration.sec = ((uint32_t) (*(inbuffer + offset))); 00118 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00119 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00120 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00121 offset += sizeof(this->duration.sec); 00122 this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); 00123 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00124 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00125 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00126 offset += sizeof(this->duration.nsec); 00127 return offset; 00128 } 00129 00130 const char * getType(){ return APPLYJOINTEFFORT; }; 00131 const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; }; 00132 00133 }; 00134 00135 class ApplyJointEffortResponse : public ros::Msg 00136 { 00137 public: 00138 typedef bool _success_type; 00139 _success_type success; 00140 typedef const char* _status_message_type; 00141 _status_message_type status_message; 00142 00143 ApplyJointEffortResponse(): 00144 success(0), 00145 status_message("") 00146 { 00147 } 00148 00149 virtual int serialize(unsigned char *outbuffer) const 00150 { 00151 int offset = 0; 00152 union { 00153 bool real; 00154 uint8_t base; 00155 } u_success; 00156 u_success.real = this->success; 00157 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00158 offset += sizeof(this->success); 00159 uint32_t length_status_message = strlen(this->status_message); 00160 varToArr(outbuffer + offset, length_status_message); 00161 offset += 4; 00162 memcpy(outbuffer + offset, this->status_message, length_status_message); 00163 offset += length_status_message; 00164 return offset; 00165 } 00166 00167 virtual int deserialize(unsigned char *inbuffer) 00168 { 00169 int offset = 0; 00170 union { 00171 bool real; 00172 uint8_t base; 00173 } u_success; 00174 u_success.base = 0; 00175 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00176 this->success = u_success.real; 00177 offset += sizeof(this->success); 00178 uint32_t length_status_message; 00179 arrToVar(length_status_message, (inbuffer + offset)); 00180 offset += 4; 00181 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00182 inbuffer[k-1]=inbuffer[k]; 00183 } 00184 inbuffer[offset+length_status_message-1]=0; 00185 this->status_message = (char *)(inbuffer + offset-1); 00186 offset += length_status_message; 00187 return offset; 00188 } 00189 00190 const char * getType(){ return APPLYJOINTEFFORT; }; 00191 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; 00192 00193 }; 00194 00195 class ApplyJointEffort { 00196 public: 00197 typedef ApplyJointEffortRequest Request; 00198 typedef ApplyJointEffortResponse Response; 00199 }; 00200 00201 } 00202 #endif
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