Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
GetJointProperties.h
00001 #ifndef _ROS_SERVICE_GetJointProperties_h 00002 #define _ROS_SERVICE_GetJointProperties_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 00008 namespace gazebo_msgs 00009 { 00010 00011 static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties"; 00012 00013 class GetJointPropertiesRequest : public ros::Msg 00014 { 00015 public: 00016 typedef const char* _joint_name_type; 00017 _joint_name_type joint_name; 00018 00019 GetJointPropertiesRequest(): 00020 joint_name("") 00021 { 00022 } 00023 00024 virtual int serialize(unsigned char *outbuffer) const 00025 { 00026 int offset = 0; 00027 uint32_t length_joint_name = strlen(this->joint_name); 00028 varToArr(outbuffer + offset, length_joint_name); 00029 offset += 4; 00030 memcpy(outbuffer + offset, this->joint_name, length_joint_name); 00031 offset += length_joint_name; 00032 return offset; 00033 } 00034 00035 virtual int deserialize(unsigned char *inbuffer) 00036 { 00037 int offset = 0; 00038 uint32_t length_joint_name; 00039 arrToVar(length_joint_name, (inbuffer + offset)); 00040 offset += 4; 00041 for(unsigned int k= offset; k< offset+length_joint_name; ++k){ 00042 inbuffer[k-1]=inbuffer[k]; 00043 } 00044 inbuffer[offset+length_joint_name-1]=0; 00045 this->joint_name = (char *)(inbuffer + offset-1); 00046 offset += length_joint_name; 00047 return offset; 00048 } 00049 00050 const char * getType(){ return GETJOINTPROPERTIES; }; 00051 const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; }; 00052 00053 }; 00054 00055 class GetJointPropertiesResponse : public ros::Msg 00056 { 00057 public: 00058 typedef uint8_t _type_type; 00059 _type_type type; 00060 uint32_t damping_length; 00061 typedef double _damping_type; 00062 _damping_type st_damping; 00063 _damping_type * damping; 00064 uint32_t position_length; 00065 typedef double _position_type; 00066 _position_type st_position; 00067 _position_type * position; 00068 uint32_t rate_length; 00069 typedef double _rate_type; 00070 _rate_type st_rate; 00071 _rate_type * rate; 00072 typedef bool _success_type; 00073 _success_type success; 00074 typedef const char* _status_message_type; 00075 _status_message_type status_message; 00076 enum { REVOLUTE = 0 }; 00077 enum { CONTINUOUS = 1 }; 00078 enum { PRISMATIC = 2 }; 00079 enum { FIXED = 3 }; 00080 enum { BALL = 4 }; 00081 enum { UNIVERSAL = 5 }; 00082 00083 GetJointPropertiesResponse(): 00084 type(0), 00085 damping_length(0), damping(NULL), 00086 position_length(0), position(NULL), 00087 rate_length(0), rate(NULL), 00088 success(0), 00089 status_message("") 00090 { 00091 } 00092 00093 virtual int serialize(unsigned char *outbuffer) const 00094 { 00095 int offset = 0; 00096 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; 00097 offset += sizeof(this->type); 00098 *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF; 00099 *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF; 00100 *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF; 00101 *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF; 00102 offset += sizeof(this->damping_length); 00103 for( uint32_t i = 0; i < damping_length; i++){ 00104 union { 00105 double real; 00106 uint64_t base; 00107 } u_dampingi; 00108 u_dampingi.real = this->damping[i]; 00109 *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF; 00110 *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF; 00111 *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF; 00112 *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF; 00113 *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF; 00114 *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF; 00115 *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF; 00116 *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF; 00117 offset += sizeof(this->damping[i]); 00118 } 00119 *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF; 00120 *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF; 00121 *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF; 00122 *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF; 00123 offset += sizeof(this->position_length); 00124 for( uint32_t i = 0; i < position_length; i++){ 00125 union { 00126 double real; 00127 uint64_t base; 00128 } u_positioni; 00129 u_positioni.real = this->position[i]; 00130 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; 00131 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; 00132 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; 00133 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; 00134 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; 00135 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; 00136 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; 00137 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; 00138 offset += sizeof(this->position[i]); 00139 } 00140 *(outbuffer + offset + 0) = (this->rate_length >> (8 * 0)) & 0xFF; 00141 *(outbuffer + offset + 1) = (this->rate_length >> (8 * 1)) & 0xFF; 00142 *(outbuffer + offset + 2) = (this->rate_length >> (8 * 2)) & 0xFF; 00143 *(outbuffer + offset + 3) = (this->rate_length >> (8 * 3)) & 0xFF; 00144 offset += sizeof(this->rate_length); 00145 for( uint32_t i = 0; i < rate_length; i++){ 00146 union { 00147 double real; 00148 uint64_t base; 00149 } u_ratei; 00150 u_ratei.real = this->rate[i]; 00151 *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF; 00152 *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF; 00153 *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF; 00154 *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF; 00155 *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF; 00156 *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF; 00157 *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF; 00158 *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF; 00159 offset += sizeof(this->rate[i]); 00160 } 00161 union { 00162 bool real; 00163 uint8_t base; 00164 } u_success; 00165 u_success.real = this->success; 00166 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00167 offset += sizeof(this->success); 00168 uint32_t length_status_message = strlen(this->status_message); 00169 varToArr(outbuffer + offset, length_status_message); 00170 offset += 4; 00171 memcpy(outbuffer + offset, this->status_message, length_status_message); 00172 offset += length_status_message; 00173 return offset; 00174 } 00175 00176 virtual int deserialize(unsigned char *inbuffer) 00177 { 00178 int offset = 0; 00179 this->type = ((uint8_t) (*(inbuffer + offset))); 00180 offset += sizeof(this->type); 00181 uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); 00182 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00183 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00184 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00185 offset += sizeof(this->damping_length); 00186 if(damping_lengthT > damping_length) 00187 this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double)); 00188 damping_length = damping_lengthT; 00189 for( uint32_t i = 0; i < damping_length; i++){ 00190 union { 00191 double real; 00192 uint64_t base; 00193 } u_st_damping; 00194 u_st_damping.base = 0; 00195 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00196 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00197 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00198 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00199 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00200 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00201 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00202 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00203 this->st_damping = u_st_damping.real; 00204 offset += sizeof(this->st_damping); 00205 memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double)); 00206 } 00207 uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 00208 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00209 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00210 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00211 offset += sizeof(this->position_length); 00212 if(position_lengthT > position_length) 00213 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); 00214 position_length = position_lengthT; 00215 for( uint32_t i = 0; i < position_length; i++){ 00216 union { 00217 double real; 00218 uint64_t base; 00219 } u_st_position; 00220 u_st_position.base = 0; 00221 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00222 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00223 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00224 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00225 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00226 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00227 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00228 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00229 this->st_position = u_st_position.real; 00230 offset += sizeof(this->st_position); 00231 memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); 00232 } 00233 uint32_t rate_lengthT = ((uint32_t) (*(inbuffer + offset))); 00234 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00235 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00236 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00237 offset += sizeof(this->rate_length); 00238 if(rate_lengthT > rate_length) 00239 this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double)); 00240 rate_length = rate_lengthT; 00241 for( uint32_t i = 0; i < rate_length; i++){ 00242 union { 00243 double real; 00244 uint64_t base; 00245 } u_st_rate; 00246 u_st_rate.base = 0; 00247 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00248 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00249 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00250 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00251 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00252 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00253 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00254 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00255 this->st_rate = u_st_rate.real; 00256 offset += sizeof(this->st_rate); 00257 memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double)); 00258 } 00259 union { 00260 bool real; 00261 uint8_t base; 00262 } u_success; 00263 u_success.base = 0; 00264 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00265 this->success = u_success.real; 00266 offset += sizeof(this->success); 00267 uint32_t length_status_message; 00268 arrToVar(length_status_message, (inbuffer + offset)); 00269 offset += 4; 00270 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00271 inbuffer[k-1]=inbuffer[k]; 00272 } 00273 inbuffer[offset+length_status_message-1]=0; 00274 this->status_message = (char *)(inbuffer + offset-1); 00275 offset += length_status_message; 00276 return offset; 00277 } 00278 00279 const char * getType(){ return GETJOINTPROPERTIES; }; 00280 const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; }; 00281 00282 }; 00283 00284 class GetJointProperties { 00285 public: 00286 typedef GetJointPropertiesRequest Request; 00287 typedef GetJointPropertiesResponse Response; 00288 }; 00289 00290 } 00291 #endif
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