rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
moveit_msgs/QueryPlannerInterfaces.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?
User | Revision | Line number | New contents of line |
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akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_SERVICE_QueryPlannerInterfaces_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_SERVICE_QueryPlannerInterfaces_h |
akashvibhute | 0:30537dec6e0b | 3 | #include <stdint.h> |
akashvibhute | 0:30537dec6e0b | 4 | #include <string.h> |
akashvibhute | 0:30537dec6e0b | 5 | #include <stdlib.h> |
akashvibhute | 0:30537dec6e0b | 6 | #include "ros/msg.h" |
akashvibhute | 0:30537dec6e0b | 7 | #include "moveit_msgs/PlannerInterfaceDescription.h" |
akashvibhute | 0:30537dec6e0b | 8 | |
akashvibhute | 0:30537dec6e0b | 9 | namespace moveit_msgs |
akashvibhute | 0:30537dec6e0b | 10 | { |
akashvibhute | 0:30537dec6e0b | 11 | |
akashvibhute | 0:30537dec6e0b | 12 | static const char QUERYPLANNERINTERFACES[] = "moveit_msgs/QueryPlannerInterfaces"; |
akashvibhute | 0:30537dec6e0b | 13 | |
akashvibhute | 0:30537dec6e0b | 14 | class QueryPlannerInterfacesRequest : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 15 | { |
akashvibhute | 0:30537dec6e0b | 16 | public: |
akashvibhute | 0:30537dec6e0b | 17 | |
akashvibhute | 0:30537dec6e0b | 18 | QueryPlannerInterfacesRequest() |
akashvibhute | 0:30537dec6e0b | 19 | { |
akashvibhute | 0:30537dec6e0b | 20 | } |
akashvibhute | 0:30537dec6e0b | 21 | |
akashvibhute | 0:30537dec6e0b | 22 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 23 | { |
akashvibhute | 0:30537dec6e0b | 24 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 25 | return offset; |
akashvibhute | 0:30537dec6e0b | 26 | } |
akashvibhute | 0:30537dec6e0b | 27 | |
akashvibhute | 0:30537dec6e0b | 28 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 29 | { |
akashvibhute | 0:30537dec6e0b | 30 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 31 | return offset; |
akashvibhute | 0:30537dec6e0b | 32 | } |
akashvibhute | 0:30537dec6e0b | 33 | |
akashvibhute | 0:30537dec6e0b | 34 | const char * getType(){ return QUERYPLANNERINTERFACES; }; |
akashvibhute | 0:30537dec6e0b | 35 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
akashvibhute | 0:30537dec6e0b | 36 | |
akashvibhute | 0:30537dec6e0b | 37 | }; |
akashvibhute | 0:30537dec6e0b | 38 | |
akashvibhute | 0:30537dec6e0b | 39 | class QueryPlannerInterfacesResponse : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 40 | { |
akashvibhute | 0:30537dec6e0b | 41 | public: |
akashvibhute | 0:30537dec6e0b | 42 | uint8_t planner_interfaces_length; |
akashvibhute | 0:30537dec6e0b | 43 | moveit_msgs::PlannerInterfaceDescription st_planner_interfaces; |
akashvibhute | 0:30537dec6e0b | 44 | moveit_msgs::PlannerInterfaceDescription * planner_interfaces; |
akashvibhute | 0:30537dec6e0b | 45 | |
akashvibhute | 0:30537dec6e0b | 46 | QueryPlannerInterfacesResponse(): |
akashvibhute | 0:30537dec6e0b | 47 | planner_interfaces_length(0), planner_interfaces(NULL) |
akashvibhute | 0:30537dec6e0b | 48 | { |
akashvibhute | 0:30537dec6e0b | 49 | } |
akashvibhute | 0:30537dec6e0b | 50 | |
akashvibhute | 0:30537dec6e0b | 51 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 52 | { |
akashvibhute | 0:30537dec6e0b | 53 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 54 | *(outbuffer + offset++) = planner_interfaces_length; |
akashvibhute | 0:30537dec6e0b | 55 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 56 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 57 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 58 | for( uint8_t i = 0; i < planner_interfaces_length; i++){ |
akashvibhute | 0:30537dec6e0b | 59 | offset += this->planner_interfaces[i].serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 60 | } |
akashvibhute | 0:30537dec6e0b | 61 | return offset; |
akashvibhute | 0:30537dec6e0b | 62 | } |
akashvibhute | 0:30537dec6e0b | 63 | |
akashvibhute | 0:30537dec6e0b | 64 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 65 | { |
akashvibhute | 0:30537dec6e0b | 66 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 67 | uint8_t planner_interfaces_lengthT = *(inbuffer + offset++); |
akashvibhute | 0:30537dec6e0b | 68 | if(planner_interfaces_lengthT > planner_interfaces_length) |
akashvibhute | 0:30537dec6e0b | 69 | this->planner_interfaces = (moveit_msgs::PlannerInterfaceDescription*)realloc(this->planner_interfaces, planner_interfaces_lengthT * sizeof(moveit_msgs::PlannerInterfaceDescription)); |
akashvibhute | 0:30537dec6e0b | 70 | offset += 3; |
akashvibhute | 0:30537dec6e0b | 71 | planner_interfaces_length = planner_interfaces_lengthT; |
akashvibhute | 0:30537dec6e0b | 72 | for( uint8_t i = 0; i < planner_interfaces_length; i++){ |
akashvibhute | 0:30537dec6e0b | 73 | offset += this->st_planner_interfaces.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 74 | memcpy( &(this->planner_interfaces[i]), &(this->st_planner_interfaces), sizeof(moveit_msgs::PlannerInterfaceDescription)); |
akashvibhute | 0:30537dec6e0b | 75 | } |
akashvibhute | 0:30537dec6e0b | 76 | return offset; |
akashvibhute | 0:30537dec6e0b | 77 | } |
akashvibhute | 0:30537dec6e0b | 78 | |
akashvibhute | 0:30537dec6e0b | 79 | const char * getType(){ return QUERYPLANNERINTERFACES; }; |
akashvibhute | 0:30537dec6e0b | 80 | const char * getMD5(){ return "acd3317a4c5631f33127fb428209db05"; }; |
akashvibhute | 0:30537dec6e0b | 81 | |
akashvibhute | 0:30537dec6e0b | 82 | }; |
akashvibhute | 0:30537dec6e0b | 83 | |
akashvibhute | 0:30537dec6e0b | 84 | class QueryPlannerInterfaces { |
akashvibhute | 0:30537dec6e0b | 85 | public: |
akashvibhute | 0:30537dec6e0b | 86 | typedef QueryPlannerInterfacesRequest Request; |
akashvibhute | 0:30537dec6e0b | 87 | typedef QueryPlannerInterfacesResponse Response; |
akashvibhute | 0:30537dec6e0b | 88 | }; |
akashvibhute | 0:30537dec6e0b | 89 | |
akashvibhute | 0:30537dec6e0b | 90 | } |
akashvibhute | 0:30537dec6e0b | 91 | #endif |
akashvibhute | 0:30537dec6e0b | 92 |