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/ManipulationPhase.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_ManipulationPhase_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_ManipulationPhase_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
akashvibhute 0:30537dec6e0b 9 namespace manipulation_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class ManipulationPhase : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 int32_t phase;
akashvibhute 0:30537dec6e0b 16 enum { CHECKING_FEASIBILITY = 0 };
akashvibhute 0:30537dec6e0b 17 enum { MOVING_TO_PREGRASP = 1 };
akashvibhute 0:30537dec6e0b 18 enum { MOVING_TO_GRASP = 2 };
akashvibhute 0:30537dec6e0b 19 enum { CLOSING = 3 };
akashvibhute 0:30537dec6e0b 20 enum { ADJUSTING_GRASP = 4 };
akashvibhute 0:30537dec6e0b 21 enum { LIFTING = 5 };
akashvibhute 0:30537dec6e0b 22 enum { MOVING_WITH_OBJECT = 6 };
akashvibhute 0:30537dec6e0b 23 enum { MOVING_TO_PLACE = 7 };
akashvibhute 0:30537dec6e0b 24 enum { PLACING = 8 };
akashvibhute 0:30537dec6e0b 25 enum { OPENING = 9 };
akashvibhute 0:30537dec6e0b 26 enum { RETREATING = 10 };
akashvibhute 0:30537dec6e0b 27 enum { MOVING_WITHOUT_OBJECT = 11 };
akashvibhute 0:30537dec6e0b 28 enum { SHAKING = 12 };
akashvibhute 0:30537dec6e0b 29 enum { SUCCEEDED = 13 };
akashvibhute 0:30537dec6e0b 30 enum { FAILED = 14 };
akashvibhute 0:30537dec6e0b 31 enum { ABORTED = 15 };
akashvibhute 0:30537dec6e0b 32 enum { HOLDING_OBJECT = 16 };
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 ManipulationPhase():
akashvibhute 0:30537dec6e0b 35 phase(0)
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 union {
akashvibhute 0:30537dec6e0b 43 int32_t real;
akashvibhute 0:30537dec6e0b 44 uint32_t base;
akashvibhute 0:30537dec6e0b 45 } u_phase;
akashvibhute 0:30537dec6e0b 46 u_phase.real = this->phase;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset + 0) = (u_phase.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 1) = (u_phase.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 2) = (u_phase.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 3) = (u_phase.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 offset += sizeof(this->phase);
akashvibhute 0:30537dec6e0b 52 return offset;
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54
akashvibhute 0:30537dec6e0b 55 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 56 {
akashvibhute 0:30537dec6e0b 57 int offset = 0;
akashvibhute 0:30537dec6e0b 58 union {
akashvibhute 0:30537dec6e0b 59 int32_t real;
akashvibhute 0:30537dec6e0b 60 uint32_t base;
akashvibhute 0:30537dec6e0b 61 } u_phase;
akashvibhute 0:30537dec6e0b 62 u_phase.base = 0;
akashvibhute 0:30537dec6e0b 63 u_phase.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 64 u_phase.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 65 u_phase.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 66 u_phase.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 67 this->phase = u_phase.real;
akashvibhute 0:30537dec6e0b 68 offset += sizeof(this->phase);
akashvibhute 0:30537dec6e0b 69 return offset;
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 const char * getType(){ return "manipulation_msgs/ManipulationPhase"; };
akashvibhute 0:30537dec6e0b 73 const char * getMD5(){ return "2c824c847a35d8fd9277d324a3723378"; };
akashvibhute 0:30537dec6e0b 74
akashvibhute 0:30537dec6e0b 75 };
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 }
akashvibhute 0:30537dec6e0b 78 #endif