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!

trajectory_msgs/JointTrajectory.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_trajectory_msgs_JointTrajectory_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_trajectory_msgs_JointTrajectory_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 "trajectory_msgs/JointTrajectoryPoint.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace trajectory_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class JointTrajectory : 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 joint_names_length;
akashvibhute 0:30537dec6e0b 19 char* st_joint_names;
akashvibhute 0:30537dec6e0b 20 char* * joint_names;
akashvibhute 0:30537dec6e0b 21 uint8_t points_length;
akashvibhute 0:30537dec6e0b 22 trajectory_msgs::JointTrajectoryPoint st_points;
akashvibhute 0:30537dec6e0b 23 trajectory_msgs::JointTrajectoryPoint * points;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 JointTrajectory():
akashvibhute 0:30537dec6e0b 26 header(),
akashvibhute 0:30537dec6e0b 27 joint_names_length(0), joint_names(NULL),
akashvibhute 0:30537dec6e0b 28 points_length(0), points(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++) = joint_names_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 < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 41 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 43 offset += 4;
akashvibhute 0:30537dec6e0b 44 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
akashvibhute 0:30537dec6e0b 45 offset += length_joint_namesi;
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = points_length;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 for( uint8_t i = 0; i < points_length; i++){
akashvibhute 0:30537dec6e0b 52 offset += this->points[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 return offset;
akashvibhute 0:30537dec6e0b 55 }
akashvibhute 0:30537dec6e0b 56
akashvibhute 0:30537dec6e0b 57 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 58 {
akashvibhute 0:30537dec6e0b 59 int offset = 0;
akashvibhute 0:30537dec6e0b 60 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 61 uint8_t joint_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 62 if(joint_names_lengthT > joint_names_length)
akashvibhute 0:30537dec6e0b 63 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 64 offset += 3;
akashvibhute 0:30537dec6e0b 65 joint_names_length = joint_names_lengthT;
akashvibhute 0:30537dec6e0b 66 for( uint8_t i = 0; i < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 67 uint32_t length_st_joint_names;
akashvibhute 0:30537dec6e0b 68 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 69 offset += 4;
akashvibhute 0:30537dec6e0b 70 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
akashvibhute 0:30537dec6e0b 71 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73 inbuffer[offset+length_st_joint_names-1]=0;
akashvibhute 0:30537dec6e0b 74 this->st_joint_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 75 offset += length_st_joint_names;
akashvibhute 0:30537dec6e0b 76 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 77 }
akashvibhute 0:30537dec6e0b 78 uint8_t points_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 79 if(points_lengthT > points_length)
akashvibhute 0:30537dec6e0b 80 this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint));
akashvibhute 0:30537dec6e0b 81 offset += 3;
akashvibhute 0:30537dec6e0b 82 points_length = points_lengthT;
akashvibhute 0:30537dec6e0b 83 for( uint8_t i = 0; i < points_length; i++){
akashvibhute 0:30537dec6e0b 84 offset += this->st_points.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 85 memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint));
akashvibhute 0:30537dec6e0b 86 }
akashvibhute 0:30537dec6e0b 87 return offset;
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89
akashvibhute 0:30537dec6e0b 90 const char * getType(){ return "trajectory_msgs/JointTrajectory"; };
akashvibhute 0:30537dec6e0b 91 const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; };
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 };
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 }
akashvibhute 0:30537dec6e0b 96 #endif