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/GripperTranslation.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_GripperTranslation_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_GripperTranslation_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 "geometry_msgs/Vector3Stamped.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 GripperTranslation : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 geometry_msgs::Vector3Stamped direction;
akashvibhute 0:30537dec6e0b 17 float desired_distance;
akashvibhute 0:30537dec6e0b 18 float min_distance;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 GripperTranslation():
akashvibhute 0:30537dec6e0b 21 direction(),
akashvibhute 0:30537dec6e0b 22 desired_distance(0),
akashvibhute 0:30537dec6e0b 23 min_distance(0)
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 }
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 int offset = 0;
akashvibhute 0:30537dec6e0b 30 offset += this->direction.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 31 union {
akashvibhute 0:30537dec6e0b 32 float real;
akashvibhute 0:30537dec6e0b 33 uint32_t base;
akashvibhute 0:30537dec6e0b 34 } u_desired_distance;
akashvibhute 0:30537dec6e0b 35 u_desired_distance.real = this->desired_distance;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset + 0) = (u_desired_distance.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 1) = (u_desired_distance.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 2) = (u_desired_distance.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset + 3) = (u_desired_distance.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 40 offset += sizeof(this->desired_distance);
akashvibhute 0:30537dec6e0b 41 union {
akashvibhute 0:30537dec6e0b 42 float real;
akashvibhute 0:30537dec6e0b 43 uint32_t base;
akashvibhute 0:30537dec6e0b 44 } u_min_distance;
akashvibhute 0:30537dec6e0b 45 u_min_distance.real = this->min_distance;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset + 0) = (u_min_distance.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset + 1) = (u_min_distance.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 2) = (u_min_distance.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 3) = (u_min_distance.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 offset += sizeof(this->min_distance);
akashvibhute 0:30537dec6e0b 51 return offset;
akashvibhute 0:30537dec6e0b 52 }
akashvibhute 0:30537dec6e0b 53
akashvibhute 0:30537dec6e0b 54 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 int offset = 0;
akashvibhute 0:30537dec6e0b 57 offset += this->direction.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 58 union {
akashvibhute 0:30537dec6e0b 59 float real;
akashvibhute 0:30537dec6e0b 60 uint32_t base;
akashvibhute 0:30537dec6e0b 61 } u_desired_distance;
akashvibhute 0:30537dec6e0b 62 u_desired_distance.base = 0;
akashvibhute 0:30537dec6e0b 63 u_desired_distance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 64 u_desired_distance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 65 u_desired_distance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 66 u_desired_distance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 67 this->desired_distance = u_desired_distance.real;
akashvibhute 0:30537dec6e0b 68 offset += sizeof(this->desired_distance);
akashvibhute 0:30537dec6e0b 69 union {
akashvibhute 0:30537dec6e0b 70 float real;
akashvibhute 0:30537dec6e0b 71 uint32_t base;
akashvibhute 0:30537dec6e0b 72 } u_min_distance;
akashvibhute 0:30537dec6e0b 73 u_min_distance.base = 0;
akashvibhute 0:30537dec6e0b 74 u_min_distance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 75 u_min_distance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 76 u_min_distance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 77 u_min_distance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 78 this->min_distance = u_min_distance.real;
akashvibhute 0:30537dec6e0b 79 offset += sizeof(this->min_distance);
akashvibhute 0:30537dec6e0b 80 return offset;
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82
akashvibhute 0:30537dec6e0b 83 const char * getType(){ return "manipulation_msgs/GripperTranslation"; };
akashvibhute 0:30537dec6e0b 84 const char * getMD5(){ return "b53bc0ad0f717cdec3b0e42dec300121"; };
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 };
akashvibhute 0:30537dec6e0b 87
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89 #endif