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/GraspableObjectList.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_GraspableObjectList_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_GraspableObjectList_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/GraspableObject.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/Image.h"
akashvibhute 0:30537dec6e0b 10 #include "sensor_msgs/CameraInfo.h"
akashvibhute 0:30537dec6e0b 11 #include "shape_msgs/Mesh.h"
akashvibhute 0:30537dec6e0b 12 #include "geometry_msgs/Pose.h"
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 class GraspableObjectList : public ros::Msg
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 public:
akashvibhute 0:30537dec6e0b 20 uint8_t graspable_objects_length;
akashvibhute 0:30537dec6e0b 21 manipulation_msgs::GraspableObject st_graspable_objects;
akashvibhute 0:30537dec6e0b 22 manipulation_msgs::GraspableObject * graspable_objects;
akashvibhute 0:30537dec6e0b 23 sensor_msgs::Image image;
akashvibhute 0:30537dec6e0b 24 sensor_msgs::CameraInfo camera_info;
akashvibhute 0:30537dec6e0b 25 uint8_t meshes_length;
akashvibhute 0:30537dec6e0b 26 shape_msgs::Mesh st_meshes;
akashvibhute 0:30537dec6e0b 27 shape_msgs::Mesh * meshes;
akashvibhute 0:30537dec6e0b 28 geometry_msgs::Pose reference_to_camera;
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 GraspableObjectList():
akashvibhute 0:30537dec6e0b 31 graspable_objects_length(0), graspable_objects(NULL),
akashvibhute 0:30537dec6e0b 32 image(),
akashvibhute 0:30537dec6e0b 33 camera_info(),
akashvibhute 0:30537dec6e0b 34 meshes_length(0), meshes(NULL),
akashvibhute 0:30537dec6e0b 35 reference_to_camera()
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38
akashvibhute 0:30537dec6e0b 39 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 40 {
akashvibhute 0:30537dec6e0b 41 int offset = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = graspable_objects_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 < graspable_objects_length; i++){
akashvibhute 0:30537dec6e0b 47 offset += this->graspable_objects[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49 offset += this->image.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 50 offset += this->camera_info.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = meshes_length;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 55 for( uint8_t i = 0; i < meshes_length; i++){
akashvibhute 0:30537dec6e0b 56 offset += this->meshes[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58 offset += this->reference_to_camera.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 59 return offset;
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 63 {
akashvibhute 0:30537dec6e0b 64 int offset = 0;
akashvibhute 0:30537dec6e0b 65 uint8_t graspable_objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 66 if(graspable_objects_lengthT > graspable_objects_length)
akashvibhute 0:30537dec6e0b 67 this->graspable_objects = (manipulation_msgs::GraspableObject*)realloc(this->graspable_objects, graspable_objects_lengthT * sizeof(manipulation_msgs::GraspableObject));
akashvibhute 0:30537dec6e0b 68 offset += 3;
akashvibhute 0:30537dec6e0b 69 graspable_objects_length = graspable_objects_lengthT;
akashvibhute 0:30537dec6e0b 70 for( uint8_t i = 0; i < graspable_objects_length; i++){
akashvibhute 0:30537dec6e0b 71 offset += this->st_graspable_objects.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 72 memcpy( &(this->graspable_objects[i]), &(this->st_graspable_objects), sizeof(manipulation_msgs::GraspableObject));
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74 offset += this->image.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 75 offset += this->camera_info.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 76 uint8_t meshes_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 77 if(meshes_lengthT > meshes_length)
akashvibhute 0:30537dec6e0b 78 this->meshes = (shape_msgs::Mesh*)realloc(this->meshes, meshes_lengthT * sizeof(shape_msgs::Mesh));
akashvibhute 0:30537dec6e0b 79 offset += 3;
akashvibhute 0:30537dec6e0b 80 meshes_length = meshes_lengthT;
akashvibhute 0:30537dec6e0b 81 for( uint8_t i = 0; i < meshes_length; i++){
akashvibhute 0:30537dec6e0b 82 offset += this->st_meshes.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 83 memcpy( &(this->meshes[i]), &(this->st_meshes), sizeof(shape_msgs::Mesh));
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 offset += this->reference_to_camera.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 86 return offset;
akashvibhute 0:30537dec6e0b 87 }
akashvibhute 0:30537dec6e0b 88
akashvibhute 0:30537dec6e0b 89 const char * getType(){ return "manipulation_msgs/GraspableObjectList"; };
akashvibhute 0:30537dec6e0b 90 const char * getMD5(){ return "d67571f2982f1b7115de1e0027319109"; };
akashvibhute 0:30537dec6e0b 91
akashvibhute 0:30537dec6e0b 92 };
akashvibhute 0:30537dec6e0b 93
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 #endif