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!

nav_msgs/GridCells.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_nav_msgs_GridCells_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_nav_msgs_GridCells_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 "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Point.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace nav_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class GridCells : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 18 float cell_width;
akashvibhute 0:30537dec6e0b 19 float cell_height;
akashvibhute 0:30537dec6e0b 20 uint8_t cells_length;
akashvibhute 0:30537dec6e0b 21 geometry_msgs::Point st_cells;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Point * cells;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 GridCells():
akashvibhute 0:30537dec6e0b 25 header(),
akashvibhute 0:30537dec6e0b 26 cell_width(0),
akashvibhute 0:30537dec6e0b 27 cell_height(0),
akashvibhute 0:30537dec6e0b 28 cells_length(0), cells(NULL)
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 }
akashvibhute 0:30537dec6e0b 31
akashvibhute 0:30537dec6e0b 32 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 33 {
akashvibhute 0:30537dec6e0b 34 int offset = 0;
akashvibhute 0:30537dec6e0b 35 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 36 union {
akashvibhute 0:30537dec6e0b 37 float real;
akashvibhute 0:30537dec6e0b 38 uint32_t base;
akashvibhute 0:30537dec6e0b 39 } u_cell_width;
akashvibhute 0:30537dec6e0b 40 u_cell_width.real = this->cell_width;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 offset += sizeof(this->cell_width);
akashvibhute 0:30537dec6e0b 46 union {
akashvibhute 0:30537dec6e0b 47 float real;
akashvibhute 0:30537dec6e0b 48 uint32_t base;
akashvibhute 0:30537dec6e0b 49 } u_cell_height;
akashvibhute 0:30537dec6e0b 50 u_cell_height.real = this->cell_height;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 55 offset += sizeof(this->cell_height);
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = cells_length;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 60 for( uint8_t i = 0; i < cells_length; i++){
akashvibhute 0:30537dec6e0b 61 offset += this->cells[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63 return offset;
akashvibhute 0:30537dec6e0b 64 }
akashvibhute 0:30537dec6e0b 65
akashvibhute 0:30537dec6e0b 66 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 67 {
akashvibhute 0:30537dec6e0b 68 int offset = 0;
akashvibhute 0:30537dec6e0b 69 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 70 union {
akashvibhute 0:30537dec6e0b 71 float real;
akashvibhute 0:30537dec6e0b 72 uint32_t base;
akashvibhute 0:30537dec6e0b 73 } u_cell_width;
akashvibhute 0:30537dec6e0b 74 u_cell_width.base = 0;
akashvibhute 0:30537dec6e0b 75 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 76 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 77 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 78 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 79 this->cell_width = u_cell_width.real;
akashvibhute 0:30537dec6e0b 80 offset += sizeof(this->cell_width);
akashvibhute 0:30537dec6e0b 81 union {
akashvibhute 0:30537dec6e0b 82 float real;
akashvibhute 0:30537dec6e0b 83 uint32_t base;
akashvibhute 0:30537dec6e0b 84 } u_cell_height;
akashvibhute 0:30537dec6e0b 85 u_cell_height.base = 0;
akashvibhute 0:30537dec6e0b 86 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 87 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 88 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 89 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 90 this->cell_height = u_cell_height.real;
akashvibhute 0:30537dec6e0b 91 offset += sizeof(this->cell_height);
akashvibhute 0:30537dec6e0b 92 uint8_t cells_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 93 if(cells_lengthT > cells_length)
akashvibhute 0:30537dec6e0b 94 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 95 offset += 3;
akashvibhute 0:30537dec6e0b 96 cells_length = cells_lengthT;
akashvibhute 0:30537dec6e0b 97 for( uint8_t i = 0; i < cells_length; i++){
akashvibhute 0:30537dec6e0b 98 offset += this->st_cells.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 99 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 100 }
akashvibhute 0:30537dec6e0b 101 return offset;
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 const char * getType(){ return "nav_msgs/GridCells"; };
akashvibhute 0:30537dec6e0b 105 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
akashvibhute 0:30537dec6e0b 106
akashvibhute 0:30537dec6e0b 107 };
akashvibhute 0:30537dec6e0b 108
akashvibhute 0:30537dec6e0b 109 }
akashvibhute 0:30537dec6e0b 110 #endif