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/PlaceLocation.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_PlaceLocation_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_PlaceLocation_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 "sensor_msgs/JointState.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/PoseStamped.h"
akashvibhute 0:30537dec6e0b 10 #include "manipulation_msgs/GripperTranslation.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 PlaceLocation : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* id;
akashvibhute 0:30537dec6e0b 19 sensor_msgs::JointState post_place_posture;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::PoseStamped place_pose;
akashvibhute 0:30537dec6e0b 21 manipulation_msgs::GripperTranslation approach;
akashvibhute 0:30537dec6e0b 22 manipulation_msgs::GripperTranslation retreat;
akashvibhute 0:30537dec6e0b 23 uint8_t allowed_touch_objects_length;
akashvibhute 0:30537dec6e0b 24 char* st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 25 char* * allowed_touch_objects;
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 PlaceLocation():
akashvibhute 0:30537dec6e0b 28 id(""),
akashvibhute 0:30537dec6e0b 29 post_place_posture(),
akashvibhute 0:30537dec6e0b 30 place_pose(),
akashvibhute 0:30537dec6e0b 31 approach(),
akashvibhute 0:30537dec6e0b 32 retreat(),
akashvibhute 0:30537dec6e0b 33 allowed_touch_objects_length(0), allowed_touch_objects(NULL)
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 }
akashvibhute 0:30537dec6e0b 36
akashvibhute 0:30537dec6e0b 37 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 38 {
akashvibhute 0:30537dec6e0b 39 int offset = 0;
akashvibhute 0:30537dec6e0b 40 uint32_t length_id = strlen(this->id);
akashvibhute 0:30537dec6e0b 41 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 42 offset += 4;
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, this->id, length_id);
akashvibhute 0:30537dec6e0b 44 offset += length_id;
akashvibhute 0:30537dec6e0b 45 offset += this->post_place_posture.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 46 offset += this->place_pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 47 offset += this->approach.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 48 offset += this->retreat.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = allowed_touch_objects_length;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 53 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
akashvibhute 0:30537dec6e0b 54 uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 56 offset += 4;
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
akashvibhute 0:30537dec6e0b 58 offset += length_allowed_touch_objectsi;
akashvibhute 0:30537dec6e0b 59 }
akashvibhute 0:30537dec6e0b 60 return offset;
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 64 {
akashvibhute 0:30537dec6e0b 65 int offset = 0;
akashvibhute 0:30537dec6e0b 66 uint32_t length_id;
akashvibhute 0:30537dec6e0b 67 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 68 offset += 4;
akashvibhute 0:30537dec6e0b 69 for(unsigned int k= offset; k< offset+length_id; ++k){
akashvibhute 0:30537dec6e0b 70 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 71 }
akashvibhute 0:30537dec6e0b 72 inbuffer[offset+length_id-1]=0;
akashvibhute 0:30537dec6e0b 73 this->id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 74 offset += length_id;
akashvibhute 0:30537dec6e0b 75 offset += this->post_place_posture.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 76 offset += this->place_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 77 offset += this->approach.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 78 offset += this->retreat.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 79 uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 80 if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
akashvibhute 0:30537dec6e0b 81 this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 82 offset += 3;
akashvibhute 0:30537dec6e0b 83 allowed_touch_objects_length = allowed_touch_objects_lengthT;
akashvibhute 0:30537dec6e0b 84 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
akashvibhute 0:30537dec6e0b 85 uint32_t length_st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 86 memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 87 offset += 4;
akashvibhute 0:30537dec6e0b 88 for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
akashvibhute 0:30537dec6e0b 89 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 90 }
akashvibhute 0:30537dec6e0b 91 inbuffer[offset+length_st_allowed_touch_objects-1]=0;
akashvibhute 0:30537dec6e0b 92 this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 93 offset += length_st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 94 memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
akashvibhute 0:30537dec6e0b 95 }
akashvibhute 0:30537dec6e0b 96 return offset;
akashvibhute 0:30537dec6e0b 97 }
akashvibhute 0:30537dec6e0b 98
akashvibhute 0:30537dec6e0b 99 const char * getType(){ return "manipulation_msgs/PlaceLocation"; };
akashvibhute 0:30537dec6e0b 100 const char * getMD5(){ return "0139dab9852add0e64233c5fb3b8a25a"; };
akashvibhute 0:30537dec6e0b 101
akashvibhute 0:30537dec6e0b 102 };
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105 #endif