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!

tf/tfMessage.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_tf_tfMessage_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_tf_tfMessage_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 "geometry_msgs/TransformStamped.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace tf
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class tfMessage : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 uint8_t transforms_length;
akashvibhute 0:30537dec6e0b 17 geometry_msgs::TransformStamped st_transforms;
akashvibhute 0:30537dec6e0b 18 geometry_msgs::TransformStamped * transforms;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 tfMessage():
akashvibhute 0:30537dec6e0b 21 transforms_length(0), transforms(NULL)
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 }
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 26 {
akashvibhute 0:30537dec6e0b 27 int offset = 0;
akashvibhute 0:30537dec6e0b 28 *(outbuffer + offset++) = transforms_length;
akashvibhute 0:30537dec6e0b 29 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 32 for( uint8_t i = 0; i < transforms_length; i++){
akashvibhute 0:30537dec6e0b 33 offset += this->transforms[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 34 }
akashvibhute 0:30537dec6e0b 35 return offset;
akashvibhute 0:30537dec6e0b 36 }
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 int offset = 0;
akashvibhute 0:30537dec6e0b 41 uint8_t transforms_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 42 if(transforms_lengthT > transforms_length)
akashvibhute 0:30537dec6e0b 43 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
akashvibhute 0:30537dec6e0b 44 offset += 3;
akashvibhute 0:30537dec6e0b 45 transforms_length = transforms_lengthT;
akashvibhute 0:30537dec6e0b 46 for( uint8_t i = 0; i < transforms_length; i++){
akashvibhute 0:30537dec6e0b 47 offset += this->st_transforms.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 48 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50 return offset;
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 const char * getType(){ return "tf/tfMessage"; };
akashvibhute 0:30537dec6e0b 54 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
akashvibhute 0:30537dec6e0b 55
akashvibhute 0:30537dec6e0b 56 };
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 }
akashvibhute 0:30537dec6e0b 59 #endif