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/PlannerInterfaceDescription.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_PlannerInterfaceDescription_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_PlannerInterfaceDescription_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
akashvibhute 0:30537dec6e0b 9 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class PlannerInterfaceDescription : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 const char* name;
akashvibhute 0:30537dec6e0b 16 uint8_t planner_ids_length;
akashvibhute 0:30537dec6e0b 17 char* st_planner_ids;
akashvibhute 0:30537dec6e0b 18 char* * planner_ids;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 PlannerInterfaceDescription():
akashvibhute 0:30537dec6e0b 21 name(""),
akashvibhute 0:30537dec6e0b 22 planner_ids_length(0), planner_ids(NULL)
akashvibhute 0:30537dec6e0b 23 {
akashvibhute 0:30537dec6e0b 24 }
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 int offset = 0;
akashvibhute 0:30537dec6e0b 29 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 30 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 31 offset += 4;
akashvibhute 0:30537dec6e0b 32 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 33 offset += length_name;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = planner_ids_length;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 38 for( uint8_t i = 0; i < planner_ids_length; i++){
akashvibhute 0:30537dec6e0b 39 uint32_t length_planner_idsi = strlen(this->planner_ids[i]);
akashvibhute 0:30537dec6e0b 40 memcpy(outbuffer + offset, &length_planner_idsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 41 offset += 4;
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, this->planner_ids[i], length_planner_idsi);
akashvibhute 0:30537dec6e0b 43 offset += length_planner_idsi;
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45 return offset;
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47
akashvibhute 0:30537dec6e0b 48 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 49 {
akashvibhute 0:30537dec6e0b 50 int offset = 0;
akashvibhute 0:30537dec6e0b 51 uint32_t length_name;
akashvibhute 0:30537dec6e0b 52 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 53 offset += 4;
akashvibhute 0:30537dec6e0b 54 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 55 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 58 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 59 offset += length_name;
akashvibhute 0:30537dec6e0b 60 uint8_t planner_ids_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 61 if(planner_ids_lengthT > planner_ids_length)
akashvibhute 0:30537dec6e0b 62 this->planner_ids = (char**)realloc(this->planner_ids, planner_ids_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 63 offset += 3;
akashvibhute 0:30537dec6e0b 64 planner_ids_length = planner_ids_lengthT;
akashvibhute 0:30537dec6e0b 65 for( uint8_t i = 0; i < planner_ids_length; i++){
akashvibhute 0:30537dec6e0b 66 uint32_t length_st_planner_ids;
akashvibhute 0:30537dec6e0b 67 memcpy(&length_st_planner_ids, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 68 offset += 4;
akashvibhute 0:30537dec6e0b 69 for(unsigned int k= offset; k< offset+length_st_planner_ids; ++k){
akashvibhute 0:30537dec6e0b 70 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 71 }
akashvibhute 0:30537dec6e0b 72 inbuffer[offset+length_st_planner_ids-1]=0;
akashvibhute 0:30537dec6e0b 73 this->st_planner_ids = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 74 offset += length_st_planner_ids;
akashvibhute 0:30537dec6e0b 75 memcpy( &(this->planner_ids[i]), &(this->st_planner_ids), sizeof(char*));
akashvibhute 0:30537dec6e0b 76 }
akashvibhute 0:30537dec6e0b 77 return offset;
akashvibhute 0:30537dec6e0b 78 }
akashvibhute 0:30537dec6e0b 79
akashvibhute 0:30537dec6e0b 80 const char * getType(){ return "moveit_msgs/PlannerInterfaceDescription"; };
akashvibhute 0:30537dec6e0b 81 const char * getMD5(){ return "ea5f6e6129aa1b110ccda9900d2bf25e"; };
akashvibhute 0:30537dec6e0b 82
akashvibhute 0:30537dec6e0b 83 };
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 #endif