Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

control_msgs/QueryTrajectoryState.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_SERVICE_QueryTrajectoryState_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_QueryTrajectoryState_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7 #include "ros/time.h"
akashvibhute 0:30537dec6e0b 8
akashvibhute 0:30537dec6e0b 9 namespace control_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class QueryTrajectoryStateRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 ros::Time time;
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 QueryTrajectoryStateRequest():
akashvibhute 0:30537dec6e0b 20 time()
akashvibhute 0:30537dec6e0b 21 {
akashvibhute 0:30537dec6e0b 22 }
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 int offset = 0;
akashvibhute 0:30537dec6e0b 27 *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 28 *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 29 *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 31 offset += sizeof(this->time.sec);
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 offset += sizeof(this->time.nsec);
akashvibhute 0:30537dec6e0b 37 return offset;
akashvibhute 0:30537dec6e0b 38 }
akashvibhute 0:30537dec6e0b 39
akashvibhute 0:30537dec6e0b 40 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 41 {
akashvibhute 0:30537dec6e0b 42 int offset = 0;
akashvibhute 0:30537dec6e0b 43 this->time.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 44 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 45 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 46 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 47 offset += sizeof(this->time.sec);
akashvibhute 0:30537dec6e0b 48 this->time.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 49 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 50 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 51 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 52 offset += sizeof(this->time.nsec);
akashvibhute 0:30537dec6e0b 53 return offset;
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55
akashvibhute 0:30537dec6e0b 56 const char * getType(){ return QUERYTRAJECTORYSTATE; };
akashvibhute 0:30537dec6e0b 57 const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 };
akashvibhute 0:30537dec6e0b 60
akashvibhute 0:30537dec6e0b 61 class QueryTrajectoryStateResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 62 {
akashvibhute 0:30537dec6e0b 63 public:
akashvibhute 0:30537dec6e0b 64 uint8_t name_length;
akashvibhute 0:30537dec6e0b 65 char* st_name;
akashvibhute 0:30537dec6e0b 66 char* * name;
akashvibhute 0:30537dec6e0b 67 uint8_t position_length;
akashvibhute 0:30537dec6e0b 68 float st_position;
akashvibhute 0:30537dec6e0b 69 float * position;
akashvibhute 0:30537dec6e0b 70 uint8_t velocity_length;
akashvibhute 0:30537dec6e0b 71 float st_velocity;
akashvibhute 0:30537dec6e0b 72 float * velocity;
akashvibhute 0:30537dec6e0b 73 uint8_t acceleration_length;
akashvibhute 0:30537dec6e0b 74 float st_acceleration;
akashvibhute 0:30537dec6e0b 75 float * acceleration;
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 QueryTrajectoryStateResponse():
akashvibhute 0:30537dec6e0b 78 name_length(0), name(NULL),
akashvibhute 0:30537dec6e0b 79 position_length(0), position(NULL),
akashvibhute 0:30537dec6e0b 80 velocity_length(0), velocity(NULL),
akashvibhute 0:30537dec6e0b 81 acceleration_length(0), acceleration(NULL)
akashvibhute 0:30537dec6e0b 82 {
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 86 {
akashvibhute 0:30537dec6e0b 87 int offset = 0;
akashvibhute 0:30537dec6e0b 88 *(outbuffer + offset++) = name_length;
akashvibhute 0:30537dec6e0b 89 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 90 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 91 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 92 for( uint8_t i = 0; i < name_length; i++){
akashvibhute 0:30537dec6e0b 93 uint32_t length_namei = strlen(this->name[i]);
akashvibhute 0:30537dec6e0b 94 memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 95 offset += 4;
akashvibhute 0:30537dec6e0b 96 memcpy(outbuffer + offset, this->name[i], length_namei);
akashvibhute 0:30537dec6e0b 97 offset += length_namei;
akashvibhute 0:30537dec6e0b 98 }
akashvibhute 0:30537dec6e0b 99 *(outbuffer + offset++) = position_length;
akashvibhute 0:30537dec6e0b 100 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 101 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 102 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 103 for( uint8_t i = 0; i < position_length; i++){
akashvibhute 0:30537dec6e0b 104 offset += serializeAvrFloat64(outbuffer + offset, this->position[i]);
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 *(outbuffer + offset++) = velocity_length;
akashvibhute 0:30537dec6e0b 107 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 109 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 110 for( uint8_t i = 0; i < velocity_length; i++){
akashvibhute 0:30537dec6e0b 111 offset += serializeAvrFloat64(outbuffer + offset, this->velocity[i]);
akashvibhute 0:30537dec6e0b 112 }
akashvibhute 0:30537dec6e0b 113 *(outbuffer + offset++) = acceleration_length;
akashvibhute 0:30537dec6e0b 114 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 115 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 116 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 117 for( uint8_t i = 0; i < acceleration_length; i++){
akashvibhute 0:30537dec6e0b 118 offset += serializeAvrFloat64(outbuffer + offset, this->acceleration[i]);
akashvibhute 0:30537dec6e0b 119 }
akashvibhute 0:30537dec6e0b 120 return offset;
akashvibhute 0:30537dec6e0b 121 }
akashvibhute 0:30537dec6e0b 122
akashvibhute 0:30537dec6e0b 123 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 124 {
akashvibhute 0:30537dec6e0b 125 int offset = 0;
akashvibhute 0:30537dec6e0b 126 uint8_t name_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 127 if(name_lengthT > name_length)
akashvibhute 0:30537dec6e0b 128 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 129 offset += 3;
akashvibhute 0:30537dec6e0b 130 name_length = name_lengthT;
akashvibhute 0:30537dec6e0b 131 for( uint8_t i = 0; i < name_length; i++){
akashvibhute 0:30537dec6e0b 132 uint32_t length_st_name;
akashvibhute 0:30537dec6e0b 133 memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 134 offset += 4;
akashvibhute 0:30537dec6e0b 135 for(unsigned int k= offset; k< offset+length_st_name; ++k){
akashvibhute 0:30537dec6e0b 136 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 inbuffer[offset+length_st_name-1]=0;
akashvibhute 0:30537dec6e0b 139 this->st_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 140 offset += length_st_name;
akashvibhute 0:30537dec6e0b 141 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
akashvibhute 0:30537dec6e0b 142 }
akashvibhute 0:30537dec6e0b 143 uint8_t position_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 144 if(position_lengthT > position_length)
akashvibhute 0:30537dec6e0b 145 this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 146 offset += 3;
akashvibhute 0:30537dec6e0b 147 position_length = position_lengthT;
akashvibhute 0:30537dec6e0b 148 for( uint8_t i = 0; i < position_length; i++){
akashvibhute 0:30537dec6e0b 149 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_position));
akashvibhute 0:30537dec6e0b 150 memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
akashvibhute 0:30537dec6e0b 151 }
akashvibhute 0:30537dec6e0b 152 uint8_t velocity_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 153 if(velocity_lengthT > velocity_length)
akashvibhute 0:30537dec6e0b 154 this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 155 offset += 3;
akashvibhute 0:30537dec6e0b 156 velocity_length = velocity_lengthT;
akashvibhute 0:30537dec6e0b 157 for( uint8_t i = 0; i < velocity_length; i++){
akashvibhute 0:30537dec6e0b 158 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_velocity));
akashvibhute 0:30537dec6e0b 159 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
akashvibhute 0:30537dec6e0b 160 }
akashvibhute 0:30537dec6e0b 161 uint8_t acceleration_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 162 if(acceleration_lengthT > acceleration_length)
akashvibhute 0:30537dec6e0b 163 this->acceleration = (float*)realloc(this->acceleration, acceleration_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 164 offset += 3;
akashvibhute 0:30537dec6e0b 165 acceleration_length = acceleration_lengthT;
akashvibhute 0:30537dec6e0b 166 for( uint8_t i = 0; i < acceleration_length; i++){
akashvibhute 0:30537dec6e0b 167 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_acceleration));
akashvibhute 0:30537dec6e0b 168 memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(float));
akashvibhute 0:30537dec6e0b 169 }
akashvibhute 0:30537dec6e0b 170 return offset;
akashvibhute 0:30537dec6e0b 171 }
akashvibhute 0:30537dec6e0b 172
akashvibhute 0:30537dec6e0b 173 const char * getType(){ return QUERYTRAJECTORYSTATE; };
akashvibhute 0:30537dec6e0b 174 const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
akashvibhute 0:30537dec6e0b 175
akashvibhute 0:30537dec6e0b 176 };
akashvibhute 0:30537dec6e0b 177
akashvibhute 0:30537dec6e0b 178 class QueryTrajectoryState {
akashvibhute 0:30537dec6e0b 179 public:
akashvibhute 0:30537dec6e0b 180 typedef QueryTrajectoryStateRequest Request;
akashvibhute 0:30537dec6e0b 181 typedef QueryTrajectoryStateResponse Response;
akashvibhute 0:30537dec6e0b 182 };
akashvibhute 0:30537dec6e0b 183
akashvibhute 0:30537dec6e0b 184 }
akashvibhute 0:30537dec6e0b 185 #endif
akashvibhute 0:30537dec6e0b 186