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!

shape_msgs/Mesh.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_shape_msgs_Mesh_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_shape_msgs_Mesh_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 "shape_msgs/MeshTriangle.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Point.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace shape_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class Mesh : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 uint8_t triangles_length;
akashvibhute 0:30537dec6e0b 18 shape_msgs::MeshTriangle st_triangles;
akashvibhute 0:30537dec6e0b 19 shape_msgs::MeshTriangle * triangles;
akashvibhute 0:30537dec6e0b 20 uint8_t vertices_length;
akashvibhute 0:30537dec6e0b 21 geometry_msgs::Point st_vertices;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Point * vertices;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 Mesh():
akashvibhute 0:30537dec6e0b 25 triangles_length(0), triangles(NULL),
akashvibhute 0:30537dec6e0b 26 vertices_length(0), vertices(NULL)
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 }
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 31 {
akashvibhute 0:30537dec6e0b 32 int offset = 0;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset++) = triangles_length;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 37 for( uint8_t i = 0; i < triangles_length; i++){
akashvibhute 0:30537dec6e0b 38 offset += this->triangles[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 39 }
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = vertices_length;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 for( uint8_t i = 0; i < vertices_length; i++){
akashvibhute 0:30537dec6e0b 45 offset += this->vertices[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 return offset;
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 51 {
akashvibhute 0:30537dec6e0b 52 int offset = 0;
akashvibhute 0:30537dec6e0b 53 uint8_t triangles_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 54 if(triangles_lengthT > triangles_length)
akashvibhute 0:30537dec6e0b 55 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
akashvibhute 0:30537dec6e0b 56 offset += 3;
akashvibhute 0:30537dec6e0b 57 triangles_length = triangles_lengthT;
akashvibhute 0:30537dec6e0b 58 for( uint8_t i = 0; i < triangles_length; i++){
akashvibhute 0:30537dec6e0b 59 offset += this->st_triangles.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 60 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62 uint8_t vertices_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 63 if(vertices_lengthT > vertices_length)
akashvibhute 0:30537dec6e0b 64 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 65 offset += 3;
akashvibhute 0:30537dec6e0b 66 vertices_length = vertices_lengthT;
akashvibhute 0:30537dec6e0b 67 for( uint8_t i = 0; i < vertices_length; i++){
akashvibhute 0:30537dec6e0b 68 offset += this->st_vertices.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 69 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 const char * getType(){ return "shape_msgs/Mesh"; };
akashvibhute 0:30537dec6e0b 75 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 };
akashvibhute 0:30537dec6e0b 78
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80 #endif