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/AttachedCollisionObject.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_AttachedCollisionObject_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_AttachedCollisionObject_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/CollisionObject.h"
akashvibhute 0:30537dec6e0b 9 #include "trajectory_msgs/JointTrajectory.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class AttachedCollisionObject : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* link_name;
akashvibhute 0:30537dec6e0b 18 moveit_msgs::CollisionObject object;
akashvibhute 0:30537dec6e0b 19 uint8_t touch_links_length;
akashvibhute 0:30537dec6e0b 20 char* st_touch_links;
akashvibhute 0:30537dec6e0b 21 char* * touch_links;
akashvibhute 0:30537dec6e0b 22 trajectory_msgs::JointTrajectory detach_posture;
akashvibhute 0:30537dec6e0b 23 float weight;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 AttachedCollisionObject():
akashvibhute 0:30537dec6e0b 26 link_name(""),
akashvibhute 0:30537dec6e0b 27 object(),
akashvibhute 0:30537dec6e0b 28 touch_links_length(0), touch_links(NULL),
akashvibhute 0:30537dec6e0b 29 detach_posture(),
akashvibhute 0:30537dec6e0b 30 weight(0)
akashvibhute 0:30537dec6e0b 31 {
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 uint32_t length_link_name = strlen(this->link_name);
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 memcpy(outbuffer + offset, this->link_name, length_link_name);
akashvibhute 0:30537dec6e0b 41 offset += length_link_name;
akashvibhute 0:30537dec6e0b 42 offset += this->object.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = touch_links_length;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 47 for( uint8_t i = 0; i < touch_links_length; i++){
akashvibhute 0:30537dec6e0b 48 uint32_t length_touch_linksi = strlen(this->touch_links[i]);
akashvibhute 0:30537dec6e0b 49 memcpy(outbuffer + offset, &length_touch_linksi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 50 offset += 4;
akashvibhute 0:30537dec6e0b 51 memcpy(outbuffer + offset, this->touch_links[i], length_touch_linksi);
akashvibhute 0:30537dec6e0b 52 offset += length_touch_linksi;
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 offset += this->detach_posture.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 55 offset += serializeAvrFloat64(outbuffer + offset, this->weight);
akashvibhute 0:30537dec6e0b 56 return offset;
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 60 {
akashvibhute 0:30537dec6e0b 61 int offset = 0;
akashvibhute 0:30537dec6e0b 62 uint32_t length_link_name;
akashvibhute 0:30537dec6e0b 63 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 64 offset += 4;
akashvibhute 0:30537dec6e0b 65 for(unsigned int k= offset; k< offset+length_link_name; ++k){
akashvibhute 0:30537dec6e0b 66 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 inbuffer[offset+length_link_name-1]=0;
akashvibhute 0:30537dec6e0b 69 this->link_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 70 offset += length_link_name;
akashvibhute 0:30537dec6e0b 71 offset += this->object.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 72 uint8_t touch_links_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 73 if(touch_links_lengthT > touch_links_length)
akashvibhute 0:30537dec6e0b 74 this->touch_links = (char**)realloc(this->touch_links, touch_links_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 75 offset += 3;
akashvibhute 0:30537dec6e0b 76 touch_links_length = touch_links_lengthT;
akashvibhute 0:30537dec6e0b 77 for( uint8_t i = 0; i < touch_links_length; i++){
akashvibhute 0:30537dec6e0b 78 uint32_t length_st_touch_links;
akashvibhute 0:30537dec6e0b 79 memcpy(&length_st_touch_links, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 80 offset += 4;
akashvibhute 0:30537dec6e0b 81 for(unsigned int k= offset; k< offset+length_st_touch_links; ++k){
akashvibhute 0:30537dec6e0b 82 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84 inbuffer[offset+length_st_touch_links-1]=0;
akashvibhute 0:30537dec6e0b 85 this->st_touch_links = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 86 offset += length_st_touch_links;
akashvibhute 0:30537dec6e0b 87 memcpy( &(this->touch_links[i]), &(this->st_touch_links), sizeof(char*));
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89 offset += this->detach_posture.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 90 offset += deserializeAvrFloat64(inbuffer + offset, &(this->weight));
akashvibhute 0:30537dec6e0b 91 return offset;
akashvibhute 0:30537dec6e0b 92 }
akashvibhute 0:30537dec6e0b 93
akashvibhute 0:30537dec6e0b 94 const char * getType(){ return "moveit_msgs/AttachedCollisionObject"; };
akashvibhute 0:30537dec6e0b 95 const char * getMD5(){ return "3ceac60b21e85bbd6c5b0ab9d476b752"; };
akashvibhute 0:30537dec6e0b 96
akashvibhute 0:30537dec6e0b 97 };
akashvibhute 0:30537dec6e0b 98
akashvibhute 0:30537dec6e0b 99 }
akashvibhute 0:30537dec6e0b 100 #endif