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!

household_objects_database_msgs/SaveScan.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_SaveScan_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_SaveScan_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 "geometry_msgs/PoseStamped.h"
akashvibhute 0:30537dec6e0b 8 #include "household_objects_database_msgs/DatabaseReturnCode.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace household_objects_database_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 static const char SAVESCAN[] = "household_objects_database_msgs/SaveScan";
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class SaveScanRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 int32_t scaled_model_id;
akashvibhute 0:30537dec6e0b 19 geometry_msgs::PoseStamped ground_truth_pose;
akashvibhute 0:30537dec6e0b 20 const char* bagfile_location;
akashvibhute 0:30537dec6e0b 21 const char* scan_source;
akashvibhute 0:30537dec6e0b 22 const char* cloud_topic;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 SaveScanRequest():
akashvibhute 0:30537dec6e0b 25 scaled_model_id(0),
akashvibhute 0:30537dec6e0b 26 ground_truth_pose(),
akashvibhute 0:30537dec6e0b 27 bagfile_location(""),
akashvibhute 0:30537dec6e0b 28 scan_source(""),
akashvibhute 0:30537dec6e0b 29 cloud_topic("")
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 union {
akashvibhute 0:30537dec6e0b 37 int32_t real;
akashvibhute 0:30537dec6e0b 38 uint32_t base;
akashvibhute 0:30537dec6e0b 39 } u_scaled_model_id;
akashvibhute 0:30537dec6e0b 40 u_scaled_model_id.real = this->scaled_model_id;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 0) = (u_scaled_model_id.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 1) = (u_scaled_model_id.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 2) = (u_scaled_model_id.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 3) = (u_scaled_model_id.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 offset += sizeof(this->scaled_model_id);
akashvibhute 0:30537dec6e0b 46 offset += this->ground_truth_pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 47 uint32_t length_bagfile_location = strlen(this->bagfile_location);
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, &length_bagfile_location, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 49 offset += 4;
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, this->bagfile_location, length_bagfile_location);
akashvibhute 0:30537dec6e0b 51 offset += length_bagfile_location;
akashvibhute 0:30537dec6e0b 52 uint32_t length_scan_source = strlen(this->scan_source);
akashvibhute 0:30537dec6e0b 53 memcpy(outbuffer + offset, &length_scan_source, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 54 offset += 4;
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, this->scan_source, length_scan_source);
akashvibhute 0:30537dec6e0b 56 offset += length_scan_source;
akashvibhute 0:30537dec6e0b 57 uint32_t length_cloud_topic = strlen(this->cloud_topic);
akashvibhute 0:30537dec6e0b 58 memcpy(outbuffer + offset, &length_cloud_topic, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 59 offset += 4;
akashvibhute 0:30537dec6e0b 60 memcpy(outbuffer + offset, this->cloud_topic, length_cloud_topic);
akashvibhute 0:30537dec6e0b 61 offset += length_cloud_topic;
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 union {
akashvibhute 0:30537dec6e0b 69 int32_t real;
akashvibhute 0:30537dec6e0b 70 uint32_t base;
akashvibhute 0:30537dec6e0b 71 } u_scaled_model_id;
akashvibhute 0:30537dec6e0b 72 u_scaled_model_id.base = 0;
akashvibhute 0:30537dec6e0b 73 u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 74 u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 75 u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 76 u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 77 this->scaled_model_id = u_scaled_model_id.real;
akashvibhute 0:30537dec6e0b 78 offset += sizeof(this->scaled_model_id);
akashvibhute 0:30537dec6e0b 79 offset += this->ground_truth_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 80 uint32_t length_bagfile_location;
akashvibhute 0:30537dec6e0b 81 memcpy(&length_bagfile_location, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 82 offset += 4;
akashvibhute 0:30537dec6e0b 83 for(unsigned int k= offset; k< offset+length_bagfile_location; ++k){
akashvibhute 0:30537dec6e0b 84 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 inbuffer[offset+length_bagfile_location-1]=0;
akashvibhute 0:30537dec6e0b 87 this->bagfile_location = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 88 offset += length_bagfile_location;
akashvibhute 0:30537dec6e0b 89 uint32_t length_scan_source;
akashvibhute 0:30537dec6e0b 90 memcpy(&length_scan_source, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 91 offset += 4;
akashvibhute 0:30537dec6e0b 92 for(unsigned int k= offset; k< offset+length_scan_source; ++k){
akashvibhute 0:30537dec6e0b 93 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 inbuffer[offset+length_scan_source-1]=0;
akashvibhute 0:30537dec6e0b 96 this->scan_source = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 97 offset += length_scan_source;
akashvibhute 0:30537dec6e0b 98 uint32_t length_cloud_topic;
akashvibhute 0:30537dec6e0b 99 memcpy(&length_cloud_topic, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 100 offset += 4;
akashvibhute 0:30537dec6e0b 101 for(unsigned int k= offset; k< offset+length_cloud_topic; ++k){
akashvibhute 0:30537dec6e0b 102 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 inbuffer[offset+length_cloud_topic-1]=0;
akashvibhute 0:30537dec6e0b 105 this->cloud_topic = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 106 offset += length_cloud_topic;
akashvibhute 0:30537dec6e0b 107 return offset;
akashvibhute 0:30537dec6e0b 108 }
akashvibhute 0:30537dec6e0b 109
akashvibhute 0:30537dec6e0b 110 const char * getType(){ return SAVESCAN; };
akashvibhute 0:30537dec6e0b 111 const char * getMD5(){ return "492f49d320aa26325df5fb078c297fa5"; };
akashvibhute 0:30537dec6e0b 112
akashvibhute 0:30537dec6e0b 113 };
akashvibhute 0:30537dec6e0b 114
akashvibhute 0:30537dec6e0b 115 class SaveScanResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 116 {
akashvibhute 0:30537dec6e0b 117 public:
akashvibhute 0:30537dec6e0b 118 household_objects_database_msgs::DatabaseReturnCode return_code;
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 SaveScanResponse():
akashvibhute 0:30537dec6e0b 121 return_code()
akashvibhute 0:30537dec6e0b 122 {
akashvibhute 0:30537dec6e0b 123 }
akashvibhute 0:30537dec6e0b 124
akashvibhute 0:30537dec6e0b 125 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 126 {
akashvibhute 0:30537dec6e0b 127 int offset = 0;
akashvibhute 0:30537dec6e0b 128 offset += this->return_code.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 133 {
akashvibhute 0:30537dec6e0b 134 int offset = 0;
akashvibhute 0:30537dec6e0b 135 offset += this->return_code.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 136 return offset;
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138
akashvibhute 0:30537dec6e0b 139 const char * getType(){ return SAVESCAN; };
akashvibhute 0:30537dec6e0b 140 const char * getMD5(){ return "b49fccceeb56b964ed23601916a24082"; };
akashvibhute 0:30537dec6e0b 141
akashvibhute 0:30537dec6e0b 142 };
akashvibhute 0:30537dec6e0b 143
akashvibhute 0:30537dec6e0b 144 class SaveScan {
akashvibhute 0:30537dec6e0b 145 public:
akashvibhute 0:30537dec6e0b 146 typedef SaveScanRequest Request;
akashvibhute 0:30537dec6e0b 147 typedef SaveScanResponse Response;
akashvibhute 0:30537dec6e0b 148 };
akashvibhute 0:30537dec6e0b 149
akashvibhute 0:30537dec6e0b 150 }
akashvibhute 0:30537dec6e0b 151 #endif
akashvibhute 0:30537dec6e0b 152