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/GraspableObject.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_GraspableObject_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_GraspableObject_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 "household_objects_database_msgs/DatabaseModelPose.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/PointCloud.h"
akashvibhute 0:30537dec6e0b 10 #include "manipulation_msgs/SceneRegion.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class GraspableObject : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* reference_frame_id;
akashvibhute 0:30537dec6e0b 19 uint8_t potential_models_length;
akashvibhute 0:30537dec6e0b 20 household_objects_database_msgs::DatabaseModelPose st_potential_models;
akashvibhute 0:30537dec6e0b 21 household_objects_database_msgs::DatabaseModelPose * potential_models;
akashvibhute 0:30537dec6e0b 22 sensor_msgs::PointCloud cluster;
akashvibhute 0:30537dec6e0b 23 manipulation_msgs::SceneRegion region;
akashvibhute 0:30537dec6e0b 24 const char* collision_name;
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 GraspableObject():
akashvibhute 0:30537dec6e0b 27 reference_frame_id(""),
akashvibhute 0:30537dec6e0b 28 potential_models_length(0), potential_models(NULL),
akashvibhute 0:30537dec6e0b 29 cluster(),
akashvibhute 0:30537dec6e0b 30 region(),
akashvibhute 0:30537dec6e0b 31 collision_name("")
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 }
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 int offset = 0;
akashvibhute 0:30537dec6e0b 38 uint32_t length_reference_frame_id = strlen(this->reference_frame_id);
akashvibhute 0:30537dec6e0b 39 memcpy(outbuffer + offset, &length_reference_frame_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 40 offset += 4;
akashvibhute 0:30537dec6e0b 41 memcpy(outbuffer + offset, this->reference_frame_id, length_reference_frame_id);
akashvibhute 0:30537dec6e0b 42 offset += length_reference_frame_id;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = potential_models_length;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 47 for( uint8_t i = 0; i < potential_models_length; i++){
akashvibhute 0:30537dec6e0b 48 offset += this->potential_models[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50 offset += this->cluster.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 51 offset += this->region.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 52 uint32_t length_collision_name = strlen(this->collision_name);
akashvibhute 0:30537dec6e0b 53 memcpy(outbuffer + offset, &length_collision_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 54 offset += 4;
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, this->collision_name, length_collision_name);
akashvibhute 0:30537dec6e0b 56 offset += length_collision_name;
akashvibhute 0:30537dec6e0b 57 return offset;
akashvibhute 0:30537dec6e0b 58 }
akashvibhute 0:30537dec6e0b 59
akashvibhute 0:30537dec6e0b 60 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 61 {
akashvibhute 0:30537dec6e0b 62 int offset = 0;
akashvibhute 0:30537dec6e0b 63 uint32_t length_reference_frame_id;
akashvibhute 0:30537dec6e0b 64 memcpy(&length_reference_frame_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 65 offset += 4;
akashvibhute 0:30537dec6e0b 66 for(unsigned int k= offset; k< offset+length_reference_frame_id; ++k){
akashvibhute 0:30537dec6e0b 67 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 inbuffer[offset+length_reference_frame_id-1]=0;
akashvibhute 0:30537dec6e0b 70 this->reference_frame_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 71 offset += length_reference_frame_id;
akashvibhute 0:30537dec6e0b 72 uint8_t potential_models_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 73 if(potential_models_lengthT > potential_models_length)
akashvibhute 0:30537dec6e0b 74 this->potential_models = (household_objects_database_msgs::DatabaseModelPose*)realloc(this->potential_models, potential_models_lengthT * sizeof(household_objects_database_msgs::DatabaseModelPose));
akashvibhute 0:30537dec6e0b 75 offset += 3;
akashvibhute 0:30537dec6e0b 76 potential_models_length = potential_models_lengthT;
akashvibhute 0:30537dec6e0b 77 for( uint8_t i = 0; i < potential_models_length; i++){
akashvibhute 0:30537dec6e0b 78 offset += this->st_potential_models.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 79 memcpy( &(this->potential_models[i]), &(this->st_potential_models), sizeof(household_objects_database_msgs::DatabaseModelPose));
akashvibhute 0:30537dec6e0b 80 }
akashvibhute 0:30537dec6e0b 81 offset += this->cluster.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 82 offset += this->region.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 83 uint32_t length_collision_name;
akashvibhute 0:30537dec6e0b 84 memcpy(&length_collision_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 85 offset += 4;
akashvibhute 0:30537dec6e0b 86 for(unsigned int k= offset; k< offset+length_collision_name; ++k){
akashvibhute 0:30537dec6e0b 87 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89 inbuffer[offset+length_collision_name-1]=0;
akashvibhute 0:30537dec6e0b 90 this->collision_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 91 offset += length_collision_name;
akashvibhute 0:30537dec6e0b 92 return offset;
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 const char * getType(){ return "manipulation_msgs/GraspableObject"; };
akashvibhute 0:30537dec6e0b 96 const char * getMD5(){ return "e2efd13d8e2bbb4697a5d71f167bceaa"; };
akashvibhute 0:30537dec6e0b 97
akashvibhute 0:30537dec6e0b 98 };
akashvibhute 0:30537dec6e0b 99
akashvibhute 0:30537dec6e0b 100 }
akashvibhute 0:30537dec6e0b 101 #endif