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!

manipulation_msgs/CartesianGains.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_manipulation_msgs_CartesianGains_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_CartesianGains_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 "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class CartesianGains : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 uint8_t gains_length;
akashvibhute 0:30537dec6e0b 18 float st_gains;
akashvibhute 0:30537dec6e0b 19 float * gains;
akashvibhute 0:30537dec6e0b 20 uint8_t fixed_frame_length;
akashvibhute 0:30537dec6e0b 21 float st_fixed_frame;
akashvibhute 0:30537dec6e0b 22 float * fixed_frame;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 CartesianGains():
akashvibhute 0:30537dec6e0b 25 header(),
akashvibhute 0:30537dec6e0b 26 gains_length(0), gains(NULL),
akashvibhute 0:30537dec6e0b 27 fixed_frame_length(0), fixed_frame(NULL)
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 }
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset++) = gains_length;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 for( uint8_t i = 0; i < gains_length; i++){
akashvibhute 0:30537dec6e0b 40 offset += serializeAvrFloat64(outbuffer + offset, this->gains[i]);
akashvibhute 0:30537dec6e0b 41 }
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = fixed_frame_length;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 46 for( uint8_t i = 0; i < fixed_frame_length; i++){
akashvibhute 0:30537dec6e0b 47 offset += serializeAvrFloat64(outbuffer + offset, this->fixed_frame[i]);
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49 return offset;
akashvibhute 0:30537dec6e0b 50 }
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 53 {
akashvibhute 0:30537dec6e0b 54 int offset = 0;
akashvibhute 0:30537dec6e0b 55 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 56 uint8_t gains_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 57 if(gains_lengthT > gains_length)
akashvibhute 0:30537dec6e0b 58 this->gains = (float*)realloc(this->gains, gains_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 59 offset += 3;
akashvibhute 0:30537dec6e0b 60 gains_length = gains_lengthT;
akashvibhute 0:30537dec6e0b 61 for( uint8_t i = 0; i < gains_length; i++){
akashvibhute 0:30537dec6e0b 62 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_gains));
akashvibhute 0:30537dec6e0b 63 memcpy( &(this->gains[i]), &(this->st_gains), sizeof(float));
akashvibhute 0:30537dec6e0b 64 }
akashvibhute 0:30537dec6e0b 65 uint8_t fixed_frame_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 66 if(fixed_frame_lengthT > fixed_frame_length)
akashvibhute 0:30537dec6e0b 67 this->fixed_frame = (float*)realloc(this->fixed_frame, fixed_frame_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 68 offset += 3;
akashvibhute 0:30537dec6e0b 69 fixed_frame_length = fixed_frame_lengthT;
akashvibhute 0:30537dec6e0b 70 for( uint8_t i = 0; i < fixed_frame_length; i++){
akashvibhute 0:30537dec6e0b 71 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_fixed_frame));
akashvibhute 0:30537dec6e0b 72 memcpy( &(this->fixed_frame[i]), &(this->st_fixed_frame), sizeof(float));
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74 return offset;
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 const char * getType(){ return "manipulation_msgs/CartesianGains"; };
akashvibhute 0:30537dec6e0b 78 const char * getMD5(){ return "ab347f046ca5736a156ec424cbb63635"; };
akashvibhute 0:30537dec6e0b 79
akashvibhute 0:30537dec6e0b 80 };
akashvibhute 0:30537dec6e0b 81
akashvibhute 0:30537dec6e0b 82 }
akashvibhute 0:30537dec6e0b 83 #endif