LoadMap.h

00001 #ifndef _ROS_SERVICE_LoadMap_h
00002 #define _ROS_SERVICE_LoadMap_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "nav_msgs/OccupancyGrid.h"
00008 
00009 namespace nav_msgs
00010 {
00011 
00012 static const char LOADMAP[] = "nav_msgs/LoadMap";
00013 
00014   class LoadMapRequest : public ros::Msg
00015   {
00016     public:
00017       typedef const char* _map_url_type;
00018       _map_url_type map_url;
00019 
00020     LoadMapRequest():
00021       map_url("")
00022     {
00023     }
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       uint32_t length_map_url = strlen(this->map_url);
00029       varToArr(outbuffer + offset, length_map_url);
00030       offset += 4;
00031       memcpy(outbuffer + offset, this->map_url, length_map_url);
00032       offset += length_map_url;
00033       return offset;
00034     }
00035 
00036     virtual int deserialize(unsigned char *inbuffer)
00037     {
00038       int offset = 0;
00039       uint32_t length_map_url;
00040       arrToVar(length_map_url, (inbuffer + offset));
00041       offset += 4;
00042       for(unsigned int k= offset; k< offset+length_map_url; ++k){
00043           inbuffer[k-1]=inbuffer[k];
00044       }
00045       inbuffer[offset+length_map_url-1]=0;
00046       this->map_url = (char *)(inbuffer + offset-1);
00047       offset += length_map_url;
00048      return offset;
00049     }
00050 
00051     virtual const char * getType(){ return LOADMAP; };
00052     virtual const char * getMD5(){ return "3813ba1ae85fbcd4dc88c90f1426b90b"; };
00053 
00054   };
00055 
00056   class LoadMapResponse : public ros::Msg
00057   {
00058     public:
00059       typedef nav_msgs::OccupancyGrid _map_type;
00060       _map_type map;
00061       typedef uint8_t _result_type;
00062       _result_type result;
00063       enum { RESULT_SUCCESS = 0 };
00064       enum { RESULT_MAP_DOES_NOT_EXIST = 1 };
00065       enum { RESULT_INVALID_MAP_DATA = 2 };
00066       enum { RESULT_INVALID_MAP_METADATA = 3 };
00067       enum { RESULT_UNDEFINED_FAILURE = 255 };
00068 
00069     LoadMapResponse():
00070       map(),
00071       result(0)
00072     {
00073     }
00074 
00075     virtual int serialize(unsigned char *outbuffer) const
00076     {
00077       int offset = 0;
00078       offset += this->map.serialize(outbuffer + offset);
00079       *(outbuffer + offset + 0) = (this->result >> (8 * 0)) & 0xFF;
00080       offset += sizeof(this->result);
00081       return offset;
00082     }
00083 
00084     virtual int deserialize(unsigned char *inbuffer)
00085     {
00086       int offset = 0;
00087       offset += this->map.deserialize(inbuffer + offset);
00088       this->result =  ((uint8_t) (*(inbuffer + offset)));
00089       offset += sizeof(this->result);
00090      return offset;
00091     }
00092 
00093     virtual const char * getType(){ return LOADMAP; };
00094     virtual const char * getMD5(){ return "079b9c828e9f7c1918bf86932fd7267e"; };
00095 
00096   };
00097 
00098   class LoadMap {
00099     public:
00100     typedef LoadMapRequest Request;
00101     typedef LoadMapResponse Response;
00102   };
00103 
00104 }
00105 #endif