Fix: gait message

lib/ros_lib/march_shared_resources/Alive.h

@@ -0,0 +1,79 @@
+#ifndef _ROS_march_shared_resources_Alive_h
+#define _ROS_march_shared_resources_Alive_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace march_shared_resources
+{
+
+  class Alive : public ros::Msg
+  {
+    public:
+      typedef ros::Time _stamp_type;
+      _stamp_type stamp;
+      typedef const char* _id_type;
+      _id_type id;
+
+    Alive():
+      stamp(),
+      id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id = strlen(this->id);
+      varToArr(outbuffer + offset, length_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id;
+      arrToVar(length_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+     return offset;
+    }
+
+    const char * getType(){ return "march_shared_resources/Alive"; };
+    const char * getMD5(){ return "302881f31927c1df708a2dbab0e80ee8"; };
+
+  };
+
+}
+#endif

lib/ros_lib/march_shared_resources/ContainsGait.h

@@ -0,0 +1,142 @@
+#ifndef _ROS_SERVICE_ContainsGait_h
+#define _ROS_SERVICE_ContainsGait_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace march_shared_resources
+{
+
+static const char CONTAINSGAIT[] = "march_shared_resources/ContainsGait";
+
+  class ContainsGaitRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _gait_type;
+      _gait_type gait;
+      uint32_t subgaits_length;
+      typedef char* _subgaits_type;
+      _subgaits_type st_subgaits;
+      _subgaits_type * subgaits;
+
+    ContainsGaitRequest():
+      gait(""),
+      subgaits_length(0), subgaits(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_gait = strlen(this->gait);
+      varToArr(outbuffer + offset, length_gait);
+      offset += 4;
+      memcpy(outbuffer + offset, this->gait, length_gait);
+      offset += length_gait;
+      *(outbuffer + offset + 0) = (this->subgaits_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->subgaits_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->subgaits_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->subgaits_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->subgaits_length);
+      for( uint32_t i = 0; i < subgaits_length; i++){
+      uint32_t length_subgaitsi = strlen(this->subgaits[i]);
+      varToArr(outbuffer + offset, length_subgaitsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->subgaits[i], length_subgaitsi);
+      offset += length_subgaitsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_gait;
+      arrToVar(length_gait, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_gait; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_gait-1]=0;
+      this->gait = (char *)(inbuffer + offset-1);
+      offset += length_gait;
+      uint32_t subgaits_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      subgaits_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      subgaits_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      subgaits_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->subgaits_length);
+      if(subgaits_lengthT > subgaits_length)
+        this->subgaits = (char**)realloc(this->subgaits, subgaits_lengthT * sizeof(char*));
+      subgaits_length = subgaits_lengthT;
+      for( uint32_t i = 0; i < subgaits_length; i++){
+      uint32_t length_st_subgaits;
+      arrToVar(length_st_subgaits, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_subgaits; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_subgaits-1]=0;
+      this->st_subgaits = (char *)(inbuffer + offset-1);
+      offset += length_st_subgaits;
+        memcpy( &(this->subgaits[i]), &(this->st_subgaits), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return CONTAINSGAIT; };
+    const char * getMD5(){ return "c234d34b1f77b3f85ab7f59d681e4aab"; };
+
+  };
+
+  class ContainsGaitResponse : public ros::Msg
+  {
+    public:
+      typedef bool _contains_type;
+      _contains_type contains;
+
+    ContainsGaitResponse():
+      contains(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_contains;
+      u_contains.real = this->contains;
+      *(outbuffer + offset + 0) = (u_contains.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->contains);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_contains;
+      u_contains.base = 0;
+      u_contains.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->contains = u_contains.real;
+      offset += sizeof(this->contains);
+     return offset;
+    }
+
+    const char * getType(){ return CONTAINSGAIT; };
+    const char * getMD5(){ return "5865510046ec078baae5a62527defb32"; };
+
+  };
+
+  class ContainsGait {
+    public:
+    typedef ContainsGaitRequest Request;
+    typedef ContainsGaitResponse Response;
+  };
+
+}
+#endif

lib/ros_lib/march_shared_resources/CurrentGait.h

@@ -0,0 +1,136 @@
+#ifndef _ROS_march_shared_resources_CurrentGait_h
+#define _ROS_march_shared_resources_CurrentGait_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/duration.h"
+
+namespace march_shared_resources
+{
+
+  class CurrentGait : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _gait_type;
+      _gait_type gait;
+      typedef const char* _subgait_type;
+      _subgait_type subgait;
+      typedef const char* _version_type;
+      _version_type version;
+      typedef ros::Duration _duration_type;
+      _duration_type duration;
+      typedef const char* _gait_type_type;
+      _gait_type_type gait_type;
+
+    CurrentGait():
+      header(),
+      gait(""),
+      subgait(""),
+      version(""),
+      duration(),
+      gait_type("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_gait = strlen(this->gait);
+      varToArr(outbuffer + offset, length_gait);
+      offset += 4;
+      memcpy(outbuffer + offset, this->gait, length_gait);
+      offset += length_gait;
+      uint32_t length_subgait = strlen(this->subgait);
+      varToArr(outbuffer + offset, length_subgait);
+      offset += 4;
+      memcpy(outbuffer + offset, this->subgait, length_subgait);
+      offset += length_subgait;
+      uint32_t length_version = strlen(this->version);
+      varToArr(outbuffer + offset, length_version);
+      offset += 4;
+      memcpy(outbuffer + offset, this->version, length_version);
+      offset += length_version;
+      *(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);
+      uint32_t length_gait_type = strlen(this->gait_type);
+      varToArr(outbuffer + offset, length_gait_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->gait_type, length_gait_type);
+      offset += length_gait_type;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_gait;
+      arrToVar(length_gait, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_gait; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_gait-1]=0;
+      this->gait = (char *)(inbuffer + offset-1);
+      offset += length_gait;
+      uint32_t length_subgait;
+      arrToVar(length_subgait, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_subgait; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_subgait-1]=0;
+      this->subgait = (char *)(inbuffer + offset-1);
+      offset += length_subgait;
+      uint32_t length_version;
+      arrToVar(length_version, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_version; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_version-1]=0;
+      this->version = (char *)(inbuffer + offset-1);
+      offset += length_version;
+      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);
+      uint32_t length_gait_type;
+      arrToVar(length_gait_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_gait_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_gait_type-1]=0;
+      this->gait_type = (char *)(inbuffer + offset-1);
+      offset += length_gait_type;
+     return offset;
+    }
+
+    const char * getType(){ return "march_shared_resources/CurrentGait"; };
+    const char * getMD5(){ return "05545223cf87f9c70c68a04b825e8621"; };
+
+  };
+
+}
+#endif