ApplyJointEffort.h

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#ifndef _ROS_SERVICE_ApplyJointEffort_h
#define _ROS_SERVICE_ApplyJointEffort_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "ros/duration.h"
#include "ros/time.h"

namespace gazebo_msgs
{

static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";

  class ApplyJointEffortRequest : public ros::Msg
  {
    public:
      const char* joint_name;
      float effort;
      ros::Time start_time;
      ros::Duration duration;

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_joint_name = strlen(this->joint_name);
      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
      offset += length_joint_name;
      int32_t * val_effort = (int32_t *) &(this->effort);
      int32_t exp_effort = (((*val_effort)>>23)&255);
      if(exp_effort != 0)
        exp_effort += 1023-127;
      int32_t sig_effort = *val_effort;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = (sig_effort<<5) & 0xff;
      *(outbuffer + offset++) = (sig_effort>>3) & 0xff;
      *(outbuffer + offset++) = (sig_effort>>11) & 0xff;
      *(outbuffer + offset++) = ((exp_effort<<4) & 0xF0) | ((sig_effort>>19)&0x0F);
      *(outbuffer + offset++) = (exp_effort>>4) & 0x7F;
      if(this->effort < 0) *(outbuffer + offset -1) |= 0x80;
      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.sec);
      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.nsec);
      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.sec);
      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.nsec);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_joint_name;
      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_joint_name-1]=0;
      this->joint_name = (char *)(inbuffer + offset-1);
      offset += length_joint_name;
      uint32_t * val_effort = (uint32_t*) &(this->effort);
      offset += 3;
      *val_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
      *val_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
      *val_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
      *val_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
      uint32_t exp_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
      exp_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
      if(exp_effort !=0)
        *val_effort |= ((exp_effort)-1023+127)<<23;
      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->effort = -this->effort;
      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.sec);
      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.nsec);
      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.sec);
      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.nsec);
     return offset;
    }

    const char * getType(){ return APPLYJOINTEFFORT; };
    const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };

  };

  class ApplyJointEffortResponse : public ros::Msg
  {
    public:
      bool success;
      const char* status_message;

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.real = this->success;
      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->success);
      uint32_t length_status_message = strlen(this->status_message);
      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->status_message, length_status_message);
      offset += length_status_message;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.base = 0;
      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->success = u_success.real;
      offset += sizeof(this->success);
      uint32_t length_status_message;
      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_status_message; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_status_message-1]=0;
      this->status_message = (char *)(inbuffer + offset-1);
      offset += length_status_message;
     return offset;
    }

    const char * getType(){ return APPLYJOINTEFFORT; };
    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };

  };

  class ApplyJointEffort {
    public:
    typedef ApplyJointEffortRequest Request;
    typedef ApplyJointEffortResponse Response;
  };

}
#endif