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!

moveit_msgs/AllowedCollisionMatrix.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_moveit_msgs_AllowedCollisionMatrix_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_AllowedCollisionMatrix_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 "moveit_msgs/AllowedCollisionEntry.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class AllowedCollisionMatrix : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 uint8_t entry_names_length;
akashvibhute 0:30537dec6e0b 17 char* st_entry_names;
akashvibhute 0:30537dec6e0b 18 char* * entry_names;
akashvibhute 0:30537dec6e0b 19 uint8_t entry_values_length;
akashvibhute 0:30537dec6e0b 20 moveit_msgs::AllowedCollisionEntry st_entry_values;
akashvibhute 0:30537dec6e0b 21 moveit_msgs::AllowedCollisionEntry * entry_values;
akashvibhute 0:30537dec6e0b 22 uint8_t default_entry_names_length;
akashvibhute 0:30537dec6e0b 23 char* st_default_entry_names;
akashvibhute 0:30537dec6e0b 24 char* * default_entry_names;
akashvibhute 0:30537dec6e0b 25 uint8_t default_entry_values_length;
akashvibhute 0:30537dec6e0b 26 bool st_default_entry_values;
akashvibhute 0:30537dec6e0b 27 bool * default_entry_values;
akashvibhute 0:30537dec6e0b 28
akashvibhute 0:30537dec6e0b 29 AllowedCollisionMatrix():
akashvibhute 0:30537dec6e0b 30 entry_names_length(0), entry_names(NULL),
akashvibhute 0:30537dec6e0b 31 entry_values_length(0), entry_values(NULL),
akashvibhute 0:30537dec6e0b 32 default_entry_names_length(0), default_entry_names(NULL),
akashvibhute 0:30537dec6e0b 33 default_entry_values_length(0), default_entry_values(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 *(outbuffer + offset++) = entry_names_length;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 for( uint8_t i = 0; i < entry_names_length; i++){
akashvibhute 0:30537dec6e0b 45 uint32_t length_entry_namesi = strlen(this->entry_names[i]);
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, &length_entry_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, this->entry_names[i], length_entry_namesi);
akashvibhute 0:30537dec6e0b 49 offset += length_entry_namesi;
akashvibhute 0:30537dec6e0b 50 }
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = entry_values_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 < entry_values_length; i++){
akashvibhute 0:30537dec6e0b 56 offset += this->entry_values[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = default_entry_names_length;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 62 for( uint8_t i = 0; i < default_entry_names_length; i++){
akashvibhute 0:30537dec6e0b 63 uint32_t length_default_entry_namesi = strlen(this->default_entry_names[i]);
akashvibhute 0:30537dec6e0b 64 memcpy(outbuffer + offset, &length_default_entry_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 65 offset += 4;
akashvibhute 0:30537dec6e0b 66 memcpy(outbuffer + offset, this->default_entry_names[i], length_default_entry_namesi);
akashvibhute 0:30537dec6e0b 67 offset += length_default_entry_namesi;
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset++) = default_entry_values_length;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 73 for( uint8_t i = 0; i < default_entry_values_length; i++){
akashvibhute 0:30537dec6e0b 74 union {
akashvibhute 0:30537dec6e0b 75 bool real;
akashvibhute 0:30537dec6e0b 76 uint8_t base;
akashvibhute 0:30537dec6e0b 77 } u_default_entry_valuesi;
akashvibhute 0:30537dec6e0b 78 u_default_entry_valuesi.real = this->default_entry_values[i];
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset + 0) = (u_default_entry_valuesi.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 80 offset += sizeof(this->default_entry_values[i]);
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82 return offset;
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 86 {
akashvibhute 0:30537dec6e0b 87 int offset = 0;
akashvibhute 0:30537dec6e0b 88 uint8_t entry_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 89 if(entry_names_lengthT > entry_names_length)
akashvibhute 0:30537dec6e0b 90 this->entry_names = (char**)realloc(this->entry_names, entry_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 91 offset += 3;
akashvibhute 0:30537dec6e0b 92 entry_names_length = entry_names_lengthT;
akashvibhute 0:30537dec6e0b 93 for( uint8_t i = 0; i < entry_names_length; i++){
akashvibhute 0:30537dec6e0b 94 uint32_t length_st_entry_names;
akashvibhute 0:30537dec6e0b 95 memcpy(&length_st_entry_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 96 offset += 4;
akashvibhute 0:30537dec6e0b 97 for(unsigned int k= offset; k< offset+length_st_entry_names; ++k){
akashvibhute 0:30537dec6e0b 98 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 99 }
akashvibhute 0:30537dec6e0b 100 inbuffer[offset+length_st_entry_names-1]=0;
akashvibhute 0:30537dec6e0b 101 this->st_entry_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 102 offset += length_st_entry_names;
akashvibhute 0:30537dec6e0b 103 memcpy( &(this->entry_names[i]), &(this->st_entry_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105 uint8_t entry_values_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 106 if(entry_values_lengthT > entry_values_length)
akashvibhute 0:30537dec6e0b 107 this->entry_values = (moveit_msgs::AllowedCollisionEntry*)realloc(this->entry_values, entry_values_lengthT * sizeof(moveit_msgs::AllowedCollisionEntry));
akashvibhute 0:30537dec6e0b 108 offset += 3;
akashvibhute 0:30537dec6e0b 109 entry_values_length = entry_values_lengthT;
akashvibhute 0:30537dec6e0b 110 for( uint8_t i = 0; i < entry_values_length; i++){
akashvibhute 0:30537dec6e0b 111 offset += this->st_entry_values.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 112 memcpy( &(this->entry_values[i]), &(this->st_entry_values), sizeof(moveit_msgs::AllowedCollisionEntry));
akashvibhute 0:30537dec6e0b 113 }
akashvibhute 0:30537dec6e0b 114 uint8_t default_entry_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 115 if(default_entry_names_lengthT > default_entry_names_length)
akashvibhute 0:30537dec6e0b 116 this->default_entry_names = (char**)realloc(this->default_entry_names, default_entry_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 117 offset += 3;
akashvibhute 0:30537dec6e0b 118 default_entry_names_length = default_entry_names_lengthT;
akashvibhute 0:30537dec6e0b 119 for( uint8_t i = 0; i < default_entry_names_length; i++){
akashvibhute 0:30537dec6e0b 120 uint32_t length_st_default_entry_names;
akashvibhute 0:30537dec6e0b 121 memcpy(&length_st_default_entry_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 122 offset += 4;
akashvibhute 0:30537dec6e0b 123 for(unsigned int k= offset; k< offset+length_st_default_entry_names; ++k){
akashvibhute 0:30537dec6e0b 124 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 125 }
akashvibhute 0:30537dec6e0b 126 inbuffer[offset+length_st_default_entry_names-1]=0;
akashvibhute 0:30537dec6e0b 127 this->st_default_entry_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 128 offset += length_st_default_entry_names;
akashvibhute 0:30537dec6e0b 129 memcpy( &(this->default_entry_names[i]), &(this->st_default_entry_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131 uint8_t default_entry_values_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 132 if(default_entry_values_lengthT > default_entry_values_length)
akashvibhute 0:30537dec6e0b 133 this->default_entry_values = (bool*)realloc(this->default_entry_values, default_entry_values_lengthT * sizeof(bool));
akashvibhute 0:30537dec6e0b 134 offset += 3;
akashvibhute 0:30537dec6e0b 135 default_entry_values_length = default_entry_values_lengthT;
akashvibhute 0:30537dec6e0b 136 for( uint8_t i = 0; i < default_entry_values_length; i++){
akashvibhute 0:30537dec6e0b 137 union {
akashvibhute 0:30537dec6e0b 138 bool real;
akashvibhute 0:30537dec6e0b 139 uint8_t base;
akashvibhute 0:30537dec6e0b 140 } u_st_default_entry_values;
akashvibhute 0:30537dec6e0b 141 u_st_default_entry_values.base = 0;
akashvibhute 0:30537dec6e0b 142 u_st_default_entry_values.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 143 this->st_default_entry_values = u_st_default_entry_values.real;
akashvibhute 0:30537dec6e0b 144 offset += sizeof(this->st_default_entry_values);
akashvibhute 0:30537dec6e0b 145 memcpy( &(this->default_entry_values[i]), &(this->st_default_entry_values), sizeof(bool));
akashvibhute 0:30537dec6e0b 146 }
akashvibhute 0:30537dec6e0b 147 return offset;
akashvibhute 0:30537dec6e0b 148 }
akashvibhute 0:30537dec6e0b 149
akashvibhute 0:30537dec6e0b 150 const char * getType(){ return "moveit_msgs/AllowedCollisionMatrix"; };
akashvibhute 0:30537dec6e0b 151 const char * getMD5(){ return "aedce13587eef0d79165a075659c1879"; };
akashvibhute 0:30537dec6e0b 152
akashvibhute 0:30537dec6e0b 153 };
akashvibhute 0:30537dec6e0b 154
akashvibhute 0:30537dec6e0b 155 }
akashvibhute 0:30537dec6e0b 156 #endif