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/SceneRegion.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_SceneRegion_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_manipulation_msgs_SceneRegion_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/PointCloud2.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/Image.h"
akashvibhute 0:30537dec6e0b 10 #include "sensor_msgs/CameraInfo.h"
akashvibhute 0:30537dec6e0b 11 #include "geometry_msgs/PoseStamped.h"
akashvibhute 0:30537dec6e0b 12 #include "geometry_msgs/Vector3.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 SceneRegion : public ros::Msg
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 public:
akashvibhute 0:30537dec6e0b 20 sensor_msgs::PointCloud2 cloud;
akashvibhute 0:30537dec6e0b 21 uint8_t mask_length;
akashvibhute 0:30537dec6e0b 22 int32_t st_mask;
akashvibhute 0:30537dec6e0b 23 int32_t * mask;
akashvibhute 0:30537dec6e0b 24 sensor_msgs::Image image;
akashvibhute 0:30537dec6e0b 25 sensor_msgs::Image disparity_image;
akashvibhute 0:30537dec6e0b 26 sensor_msgs::CameraInfo cam_info;
akashvibhute 0:30537dec6e0b 27 geometry_msgs::PoseStamped roi_box_pose;
akashvibhute 0:30537dec6e0b 28 geometry_msgs::Vector3 roi_box_dims;
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 SceneRegion():
akashvibhute 0:30537dec6e0b 31 cloud(),
akashvibhute 0:30537dec6e0b 32 mask_length(0), mask(NULL),
akashvibhute 0:30537dec6e0b 33 image(),
akashvibhute 0:30537dec6e0b 34 disparity_image(),
akashvibhute 0:30537dec6e0b 35 cam_info(),
akashvibhute 0:30537dec6e0b 36 roi_box_pose(),
akashvibhute 0:30537dec6e0b 37 roi_box_dims()
akashvibhute 0:30537dec6e0b 38 {
akashvibhute 0:30537dec6e0b 39 }
akashvibhute 0:30537dec6e0b 40
akashvibhute 0:30537dec6e0b 41 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 42 {
akashvibhute 0:30537dec6e0b 43 int offset = 0;
akashvibhute 0:30537dec6e0b 44 offset += this->cloud.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = mask_length;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 for( uint8_t i = 0; i < mask_length; i++){
akashvibhute 0:30537dec6e0b 50 union {
akashvibhute 0:30537dec6e0b 51 int32_t real;
akashvibhute 0:30537dec6e0b 52 uint32_t base;
akashvibhute 0:30537dec6e0b 53 } u_maski;
akashvibhute 0:30537dec6e0b 54 u_maski.real = this->mask[i];
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 0) = (u_maski.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset + 1) = (u_maski.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 2) = (u_maski.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 3) = (u_maski.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 offset += sizeof(this->mask[i]);
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61 offset += this->image.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 62 offset += this->disparity_image.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 63 offset += this->cam_info.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 64 offset += this->roi_box_pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 65 offset += this->roi_box_dims.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 66 return offset;
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68
akashvibhute 0:30537dec6e0b 69 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 70 {
akashvibhute 0:30537dec6e0b 71 int offset = 0;
akashvibhute 0:30537dec6e0b 72 offset += this->cloud.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 73 uint8_t mask_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 74 if(mask_lengthT > mask_length)
akashvibhute 0:30537dec6e0b 75 this->mask = (int32_t*)realloc(this->mask, mask_lengthT * sizeof(int32_t));
akashvibhute 0:30537dec6e0b 76 offset += 3;
akashvibhute 0:30537dec6e0b 77 mask_length = mask_lengthT;
akashvibhute 0:30537dec6e0b 78 for( uint8_t i = 0; i < mask_length; i++){
akashvibhute 0:30537dec6e0b 79 union {
akashvibhute 0:30537dec6e0b 80 int32_t real;
akashvibhute 0:30537dec6e0b 81 uint32_t base;
akashvibhute 0:30537dec6e0b 82 } u_st_mask;
akashvibhute 0:30537dec6e0b 83 u_st_mask.base = 0;
akashvibhute 0:30537dec6e0b 84 u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 85 u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 86 u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 87 u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 88 this->st_mask = u_st_mask.real;
akashvibhute 0:30537dec6e0b 89 offset += sizeof(this->st_mask);
akashvibhute 0:30537dec6e0b 90 memcpy( &(this->mask[i]), &(this->st_mask), sizeof(int32_t));
akashvibhute 0:30537dec6e0b 91 }
akashvibhute 0:30537dec6e0b 92 offset += this->image.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 93 offset += this->disparity_image.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 94 offset += this->cam_info.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 95 offset += this->roi_box_pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 96 offset += this->roi_box_dims.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 97 return offset;
akashvibhute 0:30537dec6e0b 98 }
akashvibhute 0:30537dec6e0b 99
akashvibhute 0:30537dec6e0b 100 const char * getType(){ return "manipulation_msgs/SceneRegion"; };
akashvibhute 0:30537dec6e0b 101 const char * getMD5(){ return "0a9ab02b19292633619876c9d247690c"; };
akashvibhute 0:30537dec6e0b 102
akashvibhute 0:30537dec6e0b 103 };
akashvibhute 0:30537dec6e0b 104
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 #endif