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!

gazebo_msgs/ModelStates.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_gazebo_msgs_ModelStates_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_gazebo_msgs_ModelStates_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/Pose.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Twist.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class ModelStates : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 uint8_t name_length;
akashvibhute 0:30537dec6e0b 18 char* st_name;
akashvibhute 0:30537dec6e0b 19 char* * name;
akashvibhute 0:30537dec6e0b 20 uint8_t pose_length;
akashvibhute 0:30537dec6e0b 21 geometry_msgs::Pose st_pose;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Pose * pose;
akashvibhute 0:30537dec6e0b 23 uint8_t twist_length;
akashvibhute 0:30537dec6e0b 24 geometry_msgs::Twist st_twist;
akashvibhute 0:30537dec6e0b 25 geometry_msgs::Twist * twist;
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 ModelStates():
akashvibhute 0:30537dec6e0b 28 name_length(0), name(NULL),
akashvibhute 0:30537dec6e0b 29 pose_length(0), pose(NULL),
akashvibhute 0:30537dec6e0b 30 twist_length(0), twist(NULL)
akashvibhute 0:30537dec6e0b 31 {
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = name_length;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 for( uint8_t i = 0; i < name_length; i++){
akashvibhute 0:30537dec6e0b 42 uint32_t length_namei = strlen(this->name[i]);
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 44 offset += 4;
akashvibhute 0:30537dec6e0b 45 memcpy(outbuffer + offset, this->name[i], length_namei);
akashvibhute 0:30537dec6e0b 46 offset += length_namei;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = pose_length;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 52 for( uint8_t i = 0; i < pose_length; i++){
akashvibhute 0:30537dec6e0b 53 offset += this->pose[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = twist_length;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 for( uint8_t i = 0; i < twist_length; i++){
akashvibhute 0:30537dec6e0b 60 offset += this->twist[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62 return offset;
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64
akashvibhute 0:30537dec6e0b 65 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 66 {
akashvibhute 0:30537dec6e0b 67 int offset = 0;
akashvibhute 0:30537dec6e0b 68 uint8_t name_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 69 if(name_lengthT > name_length)
akashvibhute 0:30537dec6e0b 70 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 71 offset += 3;
akashvibhute 0:30537dec6e0b 72 name_length = name_lengthT;
akashvibhute 0:30537dec6e0b 73 for( uint8_t i = 0; i < name_length; i++){
akashvibhute 0:30537dec6e0b 74 uint32_t length_st_name;
akashvibhute 0:30537dec6e0b 75 memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 76 offset += 4;
akashvibhute 0:30537dec6e0b 77 for(unsigned int k= offset; k< offset+length_st_name; ++k){
akashvibhute 0:30537dec6e0b 78 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80 inbuffer[offset+length_st_name-1]=0;
akashvibhute 0:30537dec6e0b 81 this->st_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 82 offset += length_st_name;
akashvibhute 0:30537dec6e0b 83 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 uint8_t pose_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 86 if(pose_lengthT > pose_length)
akashvibhute 0:30537dec6e0b 87 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
akashvibhute 0:30537dec6e0b 88 offset += 3;
akashvibhute 0:30537dec6e0b 89 pose_length = pose_lengthT;
akashvibhute 0:30537dec6e0b 90 for( uint8_t i = 0; i < pose_length; i++){
akashvibhute 0:30537dec6e0b 91 offset += this->st_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 92 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94 uint8_t twist_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 95 if(twist_lengthT > twist_length)
akashvibhute 0:30537dec6e0b 96 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 97 offset += 3;
akashvibhute 0:30537dec6e0b 98 twist_length = twist_lengthT;
akashvibhute 0:30537dec6e0b 99 for( uint8_t i = 0; i < twist_length; i++){
akashvibhute 0:30537dec6e0b 100 offset += this->st_twist.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 101 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103 return offset;
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105
akashvibhute 0:30537dec6e0b 106 const char * getType(){ return "gazebo_msgs/ModelStates"; };
akashvibhute 0:30537dec6e0b 107 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
akashvibhute 0:30537dec6e0b 108
akashvibhute 0:30537dec6e0b 109 };
akashvibhute 0:30537dec6e0b 110
akashvibhute 0:30537dec6e0b 111 }
akashvibhute 0:30537dec6e0b 112 #endif