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!

object_recognition_msgs/RecognizedObjectArray.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_object_recognition_msgs_RecognizedObjectArray_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_object_recognition_msgs_RecognizedObjectArray_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 "object_recognition_msgs/RecognizedObject.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace object_recognition_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class RecognizedObjectArray : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 18 uint8_t objects_length;
akashvibhute 0:30537dec6e0b 19 object_recognition_msgs::RecognizedObject st_objects;
akashvibhute 0:30537dec6e0b 20 object_recognition_msgs::RecognizedObject * objects;
akashvibhute 0:30537dec6e0b 21 uint8_t cooccurrence_length;
akashvibhute 0:30537dec6e0b 22 float st_cooccurrence;
akashvibhute 0:30537dec6e0b 23 float * cooccurrence;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 RecognizedObjectArray():
akashvibhute 0:30537dec6e0b 26 header(),
akashvibhute 0:30537dec6e0b 27 objects_length(0), objects(NULL),
akashvibhute 0:30537dec6e0b 28 cooccurrence_length(0), cooccurrence(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 *(outbuffer + offset++) = objects_length;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 for( uint8_t i = 0; i < objects_length; i++){
akashvibhute 0:30537dec6e0b 41 offset += this->objects[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = cooccurrence_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 < cooccurrence_length; i++){
akashvibhute 0:30537dec6e0b 48 union {
akashvibhute 0:30537dec6e0b 49 float real;
akashvibhute 0:30537dec6e0b 50 uint32_t base;
akashvibhute 0:30537dec6e0b 51 } u_cooccurrencei;
akashvibhute 0:30537dec6e0b 52 u_cooccurrencei.real = this->cooccurrence[i];
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 0) = (u_cooccurrencei.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset + 1) = (u_cooccurrencei.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 2) = (u_cooccurrencei.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset + 3) = (u_cooccurrencei.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 57 offset += sizeof(this->cooccurrence[i]);
akashvibhute 0:30537dec6e0b 58 }
akashvibhute 0:30537dec6e0b 59 return offset;
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 63 {
akashvibhute 0:30537dec6e0b 64 int offset = 0;
akashvibhute 0:30537dec6e0b 65 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 66 uint8_t objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 67 if(objects_lengthT > objects_length)
akashvibhute 0:30537dec6e0b 68 this->objects = (object_recognition_msgs::RecognizedObject*)realloc(this->objects, objects_lengthT * sizeof(object_recognition_msgs::RecognizedObject));
akashvibhute 0:30537dec6e0b 69 offset += 3;
akashvibhute 0:30537dec6e0b 70 objects_length = objects_lengthT;
akashvibhute 0:30537dec6e0b 71 for( uint8_t i = 0; i < objects_length; i++){
akashvibhute 0:30537dec6e0b 72 offset += this->st_objects.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 73 memcpy( &(this->objects[i]), &(this->st_objects), sizeof(object_recognition_msgs::RecognizedObject));
akashvibhute 0:30537dec6e0b 74 }
akashvibhute 0:30537dec6e0b 75 uint8_t cooccurrence_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 76 if(cooccurrence_lengthT > cooccurrence_length)
akashvibhute 0:30537dec6e0b 77 this->cooccurrence = (float*)realloc(this->cooccurrence, cooccurrence_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 78 offset += 3;
akashvibhute 0:30537dec6e0b 79 cooccurrence_length = cooccurrence_lengthT;
akashvibhute 0:30537dec6e0b 80 for( uint8_t i = 0; i < cooccurrence_length; i++){
akashvibhute 0:30537dec6e0b 81 union {
akashvibhute 0:30537dec6e0b 82 float real;
akashvibhute 0:30537dec6e0b 83 uint32_t base;
akashvibhute 0:30537dec6e0b 84 } u_st_cooccurrence;
akashvibhute 0:30537dec6e0b 85 u_st_cooccurrence.base = 0;
akashvibhute 0:30537dec6e0b 86 u_st_cooccurrence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 87 u_st_cooccurrence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 88 u_st_cooccurrence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 89 u_st_cooccurrence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 90 this->st_cooccurrence = u_st_cooccurrence.real;
akashvibhute 0:30537dec6e0b 91 offset += sizeof(this->st_cooccurrence);
akashvibhute 0:30537dec6e0b 92 memcpy( &(this->cooccurrence[i]), &(this->st_cooccurrence), sizeof(float));
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94 return offset;
akashvibhute 0:30537dec6e0b 95 }
akashvibhute 0:30537dec6e0b 96
akashvibhute 0:30537dec6e0b 97 const char * getType(){ return "object_recognition_msgs/RecognizedObjectArray"; };
akashvibhute 0:30537dec6e0b 98 const char * getMD5(){ return "bad6b1546b9ebcabb49fb3b858d78964"; };
akashvibhute 0:30537dec6e0b 99
akashvibhute 0:30537dec6e0b 100 };
akashvibhute 0:30537dec6e0b 101
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103 #endif