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/DisplayTrajectory.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_DisplayTrajectory_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_DisplayTrajectory_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/RobotTrajectory.h"
akashvibhute 0:30537dec6e0b 9 #include "moveit_msgs/RobotState.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 DisplayTrajectory : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* model_id;
akashvibhute 0:30537dec6e0b 18 uint8_t trajectory_length;
akashvibhute 0:30537dec6e0b 19 moveit_msgs::RobotTrajectory st_trajectory;
akashvibhute 0:30537dec6e0b 20 moveit_msgs::RobotTrajectory * trajectory;
akashvibhute 0:30537dec6e0b 21 moveit_msgs::RobotState trajectory_start;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 DisplayTrajectory():
akashvibhute 0:30537dec6e0b 24 model_id(""),
akashvibhute 0:30537dec6e0b 25 trajectory_length(0), trajectory(NULL),
akashvibhute 0:30537dec6e0b 26 trajectory_start()
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 }
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 31 {
akashvibhute 0:30537dec6e0b 32 int offset = 0;
akashvibhute 0:30537dec6e0b 33 uint32_t length_model_id = strlen(this->model_id);
akashvibhute 0:30537dec6e0b 34 memcpy(outbuffer + offset, &length_model_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 35 offset += 4;
akashvibhute 0:30537dec6e0b 36 memcpy(outbuffer + offset, this->model_id, length_model_id);
akashvibhute 0:30537dec6e0b 37 offset += length_model_id;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = trajectory_length;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 for( uint8_t i = 0; i < trajectory_length; i++){
akashvibhute 0:30537dec6e0b 43 offset += this->trajectory[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45 offset += this->trajectory_start.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 46 return offset;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 50 {
akashvibhute 0:30537dec6e0b 51 int offset = 0;
akashvibhute 0:30537dec6e0b 52 uint32_t length_model_id;
akashvibhute 0:30537dec6e0b 53 memcpy(&length_model_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 54 offset += 4;
akashvibhute 0:30537dec6e0b 55 for(unsigned int k= offset; k< offset+length_model_id; ++k){
akashvibhute 0:30537dec6e0b 56 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58 inbuffer[offset+length_model_id-1]=0;
akashvibhute 0:30537dec6e0b 59 this->model_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 60 offset += length_model_id;
akashvibhute 0:30537dec6e0b 61 uint8_t trajectory_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 62 if(trajectory_lengthT > trajectory_length)
akashvibhute 0:30537dec6e0b 63 this->trajectory = (moveit_msgs::RobotTrajectory*)realloc(this->trajectory, trajectory_lengthT * sizeof(moveit_msgs::RobotTrajectory));
akashvibhute 0:30537dec6e0b 64 offset += 3;
akashvibhute 0:30537dec6e0b 65 trajectory_length = trajectory_lengthT;
akashvibhute 0:30537dec6e0b 66 for( uint8_t i = 0; i < trajectory_length; i++){
akashvibhute 0:30537dec6e0b 67 offset += this->st_trajectory.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 68 memcpy( &(this->trajectory[i]), &(this->st_trajectory), sizeof(moveit_msgs::RobotTrajectory));
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70 offset += this->trajectory_start.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 const char * getType(){ return "moveit_msgs/DisplayTrajectory"; };
akashvibhute 0:30537dec6e0b 75 const char * getMD5(){ return "c3c039261ab9e8a11457dac56b6316c8"; };
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 };
akashvibhute 0:30537dec6e0b 78
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80 #endif