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!

pr2_mechanism_msgs/LoadController.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_SERVICE_LoadController_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_LoadController_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
akashvibhute 0:30537dec6e0b 8 namespace pr2_mechanism_msgs
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char LOADCONTROLLER[] = "pr2_mechanism_msgs/LoadController";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class LoadControllerRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* name;
akashvibhute 0:30537dec6e0b 17
akashvibhute 0:30537dec6e0b 18 LoadControllerRequest():
akashvibhute 0:30537dec6e0b 19 name("")
akashvibhute 0:30537dec6e0b 20 {
akashvibhute 0:30537dec6e0b 21 }
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 int offset = 0;
akashvibhute 0:30537dec6e0b 26 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 27 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 28 offset += 4;
akashvibhute 0:30537dec6e0b 29 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 30 offset += length_name;
akashvibhute 0:30537dec6e0b 31 return offset;
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 uint32_t length_name;
akashvibhute 0:30537dec6e0b 38 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 41 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 44 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 45 offset += length_name;
akashvibhute 0:30537dec6e0b 46 return offset;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 const char * getType(){ return LOADCONTROLLER; };
akashvibhute 0:30537dec6e0b 50 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 };
akashvibhute 0:30537dec6e0b 53
akashvibhute 0:30537dec6e0b 54 class LoadControllerResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 public:
akashvibhute 0:30537dec6e0b 57 bool ok;
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 LoadControllerResponse():
akashvibhute 0:30537dec6e0b 60 ok(0)
akashvibhute 0:30537dec6e0b 61 {
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63
akashvibhute 0:30537dec6e0b 64 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 65 {
akashvibhute 0:30537dec6e0b 66 int offset = 0;
akashvibhute 0:30537dec6e0b 67 union {
akashvibhute 0:30537dec6e0b 68 bool real;
akashvibhute 0:30537dec6e0b 69 uint8_t base;
akashvibhute 0:30537dec6e0b 70 } u_ok;
akashvibhute 0:30537dec6e0b 71 u_ok.real = this->ok;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 73 offset += sizeof(this->ok);
akashvibhute 0:30537dec6e0b 74 return offset;
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 78 {
akashvibhute 0:30537dec6e0b 79 int offset = 0;
akashvibhute 0:30537dec6e0b 80 union {
akashvibhute 0:30537dec6e0b 81 bool real;
akashvibhute 0:30537dec6e0b 82 uint8_t base;
akashvibhute 0:30537dec6e0b 83 } u_ok;
akashvibhute 0:30537dec6e0b 84 u_ok.base = 0;
akashvibhute 0:30537dec6e0b 85 u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 86 this->ok = u_ok.real;
akashvibhute 0:30537dec6e0b 87 offset += sizeof(this->ok);
akashvibhute 0:30537dec6e0b 88 return offset;
akashvibhute 0:30537dec6e0b 89 }
akashvibhute 0:30537dec6e0b 90
akashvibhute 0:30537dec6e0b 91 const char * getType(){ return LOADCONTROLLER; };
akashvibhute 0:30537dec6e0b 92 const char * getMD5(){ return "6f6da3883749771fac40d6deb24a8c02"; };
akashvibhute 0:30537dec6e0b 93
akashvibhute 0:30537dec6e0b 94 };
akashvibhute 0:30537dec6e0b 95
akashvibhute 0:30537dec6e0b 96 class LoadController {
akashvibhute 0:30537dec6e0b 97 public:
akashvibhute 0:30537dec6e0b 98 typedef LoadControllerRequest Request;
akashvibhute 0:30537dec6e0b 99 typedef LoadControllerResponse Response;
akashvibhute 0:30537dec6e0b 100 };
akashvibhute 0:30537dec6e0b 101
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103 #endif
akashvibhute 0:30537dec6e0b 104