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/GraspPlanning.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_GraspPlanning_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GraspPlanning_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 "manipulation_msgs/GraspPlanningErrorCode.h"
akashvibhute 0:30537dec6e0b 8 #include "manipulation_msgs/GraspableObject.h"
akashvibhute 0:30537dec6e0b 9 #include "manipulation_msgs/Grasp.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 static const char GRASPPLANNING[] = "manipulation_msgs/GraspPlanning";
akashvibhute 0:30537dec6e0b 15
akashvibhute 0:30537dec6e0b 16 class GraspPlanningRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 17 {
akashvibhute 0:30537dec6e0b 18 public:
akashvibhute 0:30537dec6e0b 19 const char* arm_name;
akashvibhute 0:30537dec6e0b 20 manipulation_msgs::GraspableObject target;
akashvibhute 0:30537dec6e0b 21 const char* collision_object_name;
akashvibhute 0:30537dec6e0b 22 const char* collision_support_surface_name;
akashvibhute 0:30537dec6e0b 23 uint8_t grasps_to_evaluate_length;
akashvibhute 0:30537dec6e0b 24 manipulation_msgs::Grasp st_grasps_to_evaluate;
akashvibhute 0:30537dec6e0b 25 manipulation_msgs::Grasp * grasps_to_evaluate;
akashvibhute 0:30537dec6e0b 26 uint8_t movable_obstacles_length;
akashvibhute 0:30537dec6e0b 27 manipulation_msgs::GraspableObject st_movable_obstacles;
akashvibhute 0:30537dec6e0b 28 manipulation_msgs::GraspableObject * movable_obstacles;
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 GraspPlanningRequest():
akashvibhute 0:30537dec6e0b 31 arm_name(""),
akashvibhute 0:30537dec6e0b 32 target(),
akashvibhute 0:30537dec6e0b 33 collision_object_name(""),
akashvibhute 0:30537dec6e0b 34 collision_support_surface_name(""),
akashvibhute 0:30537dec6e0b 35 grasps_to_evaluate_length(0), grasps_to_evaluate(NULL),
akashvibhute 0:30537dec6e0b 36 movable_obstacles_length(0), movable_obstacles(NULL)
akashvibhute 0:30537dec6e0b 37 {
akashvibhute 0:30537dec6e0b 38 }
akashvibhute 0:30537dec6e0b 39
akashvibhute 0:30537dec6e0b 40 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 41 {
akashvibhute 0:30537dec6e0b 42 int offset = 0;
akashvibhute 0:30537dec6e0b 43 uint32_t length_arm_name = strlen(this->arm_name);
akashvibhute 0:30537dec6e0b 44 memcpy(outbuffer + offset, &length_arm_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 45 offset += 4;
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, this->arm_name, length_arm_name);
akashvibhute 0:30537dec6e0b 47 offset += length_arm_name;
akashvibhute 0:30537dec6e0b 48 offset += this->target.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 49 uint32_t length_collision_object_name = strlen(this->collision_object_name);
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, &length_collision_object_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 51 offset += 4;
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, this->collision_object_name, length_collision_object_name);
akashvibhute 0:30537dec6e0b 53 offset += length_collision_object_name;
akashvibhute 0:30537dec6e0b 54 uint32_t length_collision_support_surface_name = strlen(this->collision_support_surface_name);
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, &length_collision_support_surface_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 56 offset += 4;
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, this->collision_support_surface_name, length_collision_support_surface_name);
akashvibhute 0:30537dec6e0b 58 offset += length_collision_support_surface_name;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = grasps_to_evaluate_length;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 63 for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
akashvibhute 0:30537dec6e0b 64 offset += this->grasps_to_evaluate[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset++) = movable_obstacles_length;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 70 for( uint8_t i = 0; i < movable_obstacles_length; i++){
akashvibhute 0:30537dec6e0b 71 offset += this->movable_obstacles[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73 return offset;
akashvibhute 0:30537dec6e0b 74 }
akashvibhute 0:30537dec6e0b 75
akashvibhute 0:30537dec6e0b 76 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 77 {
akashvibhute 0:30537dec6e0b 78 int offset = 0;
akashvibhute 0:30537dec6e0b 79 uint32_t length_arm_name;
akashvibhute 0:30537dec6e0b 80 memcpy(&length_arm_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 81 offset += 4;
akashvibhute 0:30537dec6e0b 82 for(unsigned int k= offset; k< offset+length_arm_name; ++k){
akashvibhute 0:30537dec6e0b 83 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 inbuffer[offset+length_arm_name-1]=0;
akashvibhute 0:30537dec6e0b 86 this->arm_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 87 offset += length_arm_name;
akashvibhute 0:30537dec6e0b 88 offset += this->target.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 89 uint32_t length_collision_object_name;
akashvibhute 0:30537dec6e0b 90 memcpy(&length_collision_object_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 91 offset += 4;
akashvibhute 0:30537dec6e0b 92 for(unsigned int k= offset; k< offset+length_collision_object_name; ++k){
akashvibhute 0:30537dec6e0b 93 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 inbuffer[offset+length_collision_object_name-1]=0;
akashvibhute 0:30537dec6e0b 96 this->collision_object_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 97 offset += length_collision_object_name;
akashvibhute 0:30537dec6e0b 98 uint32_t length_collision_support_surface_name;
akashvibhute 0:30537dec6e0b 99 memcpy(&length_collision_support_surface_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 100 offset += 4;
akashvibhute 0:30537dec6e0b 101 for(unsigned int k= offset; k< offset+length_collision_support_surface_name; ++k){
akashvibhute 0:30537dec6e0b 102 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 inbuffer[offset+length_collision_support_surface_name-1]=0;
akashvibhute 0:30537dec6e0b 105 this->collision_support_surface_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 106 offset += length_collision_support_surface_name;
akashvibhute 0:30537dec6e0b 107 uint8_t grasps_to_evaluate_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 108 if(grasps_to_evaluate_lengthT > grasps_to_evaluate_length)
akashvibhute 0:30537dec6e0b 109 this->grasps_to_evaluate = (manipulation_msgs::Grasp*)realloc(this->grasps_to_evaluate, grasps_to_evaluate_lengthT * sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 110 offset += 3;
akashvibhute 0:30537dec6e0b 111 grasps_to_evaluate_length = grasps_to_evaluate_lengthT;
akashvibhute 0:30537dec6e0b 112 for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
akashvibhute 0:30537dec6e0b 113 offset += this->st_grasps_to_evaluate.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 114 memcpy( &(this->grasps_to_evaluate[i]), &(this->st_grasps_to_evaluate), sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116 uint8_t movable_obstacles_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 117 if(movable_obstacles_lengthT > movable_obstacles_length)
akashvibhute 0:30537dec6e0b 118 this->movable_obstacles = (manipulation_msgs::GraspableObject*)realloc(this->movable_obstacles, movable_obstacles_lengthT * sizeof(manipulation_msgs::GraspableObject));
akashvibhute 0:30537dec6e0b 119 offset += 3;
akashvibhute 0:30537dec6e0b 120 movable_obstacles_length = movable_obstacles_lengthT;
akashvibhute 0:30537dec6e0b 121 for( uint8_t i = 0; i < movable_obstacles_length; i++){
akashvibhute 0:30537dec6e0b 122 offset += this->st_movable_obstacles.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 123 memcpy( &(this->movable_obstacles[i]), &(this->st_movable_obstacles), sizeof(manipulation_msgs::GraspableObject));
akashvibhute 0:30537dec6e0b 124 }
akashvibhute 0:30537dec6e0b 125 return offset;
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127
akashvibhute 0:30537dec6e0b 128 const char * getType(){ return GRASPPLANNING; };
akashvibhute 0:30537dec6e0b 129 const char * getMD5(){ return "077dca08a07415d82d6ab047890161f4"; };
akashvibhute 0:30537dec6e0b 130
akashvibhute 0:30537dec6e0b 131 };
akashvibhute 0:30537dec6e0b 132
akashvibhute 0:30537dec6e0b 133 class GraspPlanningResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 134 {
akashvibhute 0:30537dec6e0b 135 public:
akashvibhute 0:30537dec6e0b 136 uint8_t grasps_length;
akashvibhute 0:30537dec6e0b 137 manipulation_msgs::Grasp st_grasps;
akashvibhute 0:30537dec6e0b 138 manipulation_msgs::Grasp * grasps;
akashvibhute 0:30537dec6e0b 139 manipulation_msgs::GraspPlanningErrorCode error_code;
akashvibhute 0:30537dec6e0b 140
akashvibhute 0:30537dec6e0b 141 GraspPlanningResponse():
akashvibhute 0:30537dec6e0b 142 grasps_length(0), grasps(NULL),
akashvibhute 0:30537dec6e0b 143 error_code()
akashvibhute 0:30537dec6e0b 144 {
akashvibhute 0:30537dec6e0b 145 }
akashvibhute 0:30537dec6e0b 146
akashvibhute 0:30537dec6e0b 147 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 148 {
akashvibhute 0:30537dec6e0b 149 int offset = 0;
akashvibhute 0:30537dec6e0b 150 *(outbuffer + offset++) = grasps_length;
akashvibhute 0:30537dec6e0b 151 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 152 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 153 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 154 for( uint8_t i = 0; i < grasps_length; i++){
akashvibhute 0:30537dec6e0b 155 offset += this->grasps[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 156 }
akashvibhute 0:30537dec6e0b 157 offset += this->error_code.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 158 return offset;
akashvibhute 0:30537dec6e0b 159 }
akashvibhute 0:30537dec6e0b 160
akashvibhute 0:30537dec6e0b 161 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 162 {
akashvibhute 0:30537dec6e0b 163 int offset = 0;
akashvibhute 0:30537dec6e0b 164 uint8_t grasps_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 165 if(grasps_lengthT > grasps_length)
akashvibhute 0:30537dec6e0b 166 this->grasps = (manipulation_msgs::Grasp*)realloc(this->grasps, grasps_lengthT * sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 167 offset += 3;
akashvibhute 0:30537dec6e0b 168 grasps_length = grasps_lengthT;
akashvibhute 0:30537dec6e0b 169 for( uint8_t i = 0; i < grasps_length; i++){
akashvibhute 0:30537dec6e0b 170 offset += this->st_grasps.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 171 memcpy( &(this->grasps[i]), &(this->st_grasps), sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 172 }
akashvibhute 0:30537dec6e0b 173 offset += this->error_code.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 174 return offset;
akashvibhute 0:30537dec6e0b 175 }
akashvibhute 0:30537dec6e0b 176
akashvibhute 0:30537dec6e0b 177 const char * getType(){ return GRASPPLANNING; };
akashvibhute 0:30537dec6e0b 178 const char * getMD5(){ return "ff7a88c4aec40207164535a24dc9c440"; };
akashvibhute 0:30537dec6e0b 179
akashvibhute 0:30537dec6e0b 180 };
akashvibhute 0:30537dec6e0b 181
akashvibhute 0:30537dec6e0b 182 class GraspPlanning {
akashvibhute 0:30537dec6e0b 183 public:
akashvibhute 0:30537dec6e0b 184 typedef GraspPlanningRequest Request;
akashvibhute 0:30537dec6e0b 185 typedef GraspPlanningResponse Response;
akashvibhute 0:30537dec6e0b 186 };
akashvibhute 0:30537dec6e0b 187
akashvibhute 0:30537dec6e0b 188 }
akashvibhute 0:30537dec6e0b 189 #endif
akashvibhute 0:30537dec6e0b 190