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/GraspPlanningResult.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_GraspPlanningResult_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_GraspPlanningResult_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 "manipulation_msgs/Grasp.h"
akashvibhute 0:30537dec6e0b 9 #include "manipulation_msgs/GraspPlanningErrorCode.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class GraspPlanningResult : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 uint8_t grasps_length;
akashvibhute 0:30537dec6e0b 18 manipulation_msgs::Grasp st_grasps;
akashvibhute 0:30537dec6e0b 19 manipulation_msgs::Grasp * grasps;
akashvibhute 0:30537dec6e0b 20 manipulation_msgs::GraspPlanningErrorCode error_code;
akashvibhute 0:30537dec6e0b 21
akashvibhute 0:30537dec6e0b 22 GraspPlanningResult():
akashvibhute 0:30537dec6e0b 23 grasps_length(0), grasps(NULL),
akashvibhute 0:30537dec6e0b 24 error_code()
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 }
akashvibhute 0:30537dec6e0b 27
akashvibhute 0:30537dec6e0b 28 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 int offset = 0;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset++) = grasps_length;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 35 for( uint8_t i = 0; i < grasps_length; i++){
akashvibhute 0:30537dec6e0b 36 offset += this->grasps[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38 offset += this->error_code.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 39 return offset;
akashvibhute 0:30537dec6e0b 40 }
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 int offset = 0;
akashvibhute 0:30537dec6e0b 45 uint8_t grasps_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 46 if(grasps_lengthT > grasps_length)
akashvibhute 0:30537dec6e0b 47 this->grasps = (manipulation_msgs::Grasp*)realloc(this->grasps, grasps_lengthT * sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 48 offset += 3;
akashvibhute 0:30537dec6e0b 49 grasps_length = grasps_lengthT;
akashvibhute 0:30537dec6e0b 50 for( uint8_t i = 0; i < grasps_length; i++){
akashvibhute 0:30537dec6e0b 51 offset += this->st_grasps.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 52 memcpy( &(this->grasps[i]), &(this->st_grasps), sizeof(manipulation_msgs::Grasp));
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 offset += this->error_code.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 55 return offset;
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 const char * getType(){ return "manipulation_msgs/GraspPlanningResult"; };
akashvibhute 0:30537dec6e0b 59 const char * getMD5(){ return "ff7a88c4aec40207164535a24dc9c440"; };
akashvibhute 0:30537dec6e0b 60
akashvibhute 0:30537dec6e0b 61 };
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 #endif