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!

visualization_msgs/ImageMarker.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_visualization_msgs_ImageMarker_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_visualization_msgs_ImageMarker_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 "geometry_msgs/Point.h"
akashvibhute 0:30537dec6e0b 10 #include "std_msgs/ColorRGBA.h"
akashvibhute 0:30537dec6e0b 11 #include "ros/duration.h"
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 namespace visualization_msgs
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15
akashvibhute 0:30537dec6e0b 16 class ImageMarker : public ros::Msg
akashvibhute 0:30537dec6e0b 17 {
akashvibhute 0:30537dec6e0b 18 public:
akashvibhute 0:30537dec6e0b 19 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 20 const char* ns;
akashvibhute 0:30537dec6e0b 21 int32_t id;
akashvibhute 0:30537dec6e0b 22 int32_t type;
akashvibhute 0:30537dec6e0b 23 int32_t action;
akashvibhute 0:30537dec6e0b 24 geometry_msgs::Point position;
akashvibhute 0:30537dec6e0b 25 float scale;
akashvibhute 0:30537dec6e0b 26 std_msgs::ColorRGBA outline_color;
akashvibhute 0:30537dec6e0b 27 uint8_t filled;
akashvibhute 0:30537dec6e0b 28 std_msgs::ColorRGBA fill_color;
akashvibhute 0:30537dec6e0b 29 ros::Duration lifetime;
akashvibhute 0:30537dec6e0b 30 uint8_t points_length;
akashvibhute 0:30537dec6e0b 31 geometry_msgs::Point st_points;
akashvibhute 0:30537dec6e0b 32 geometry_msgs::Point * points;
akashvibhute 0:30537dec6e0b 33 uint8_t outline_colors_length;
akashvibhute 0:30537dec6e0b 34 std_msgs::ColorRGBA st_outline_colors;
akashvibhute 0:30537dec6e0b 35 std_msgs::ColorRGBA * outline_colors;
akashvibhute 0:30537dec6e0b 36 enum { CIRCLE = 0 };
akashvibhute 0:30537dec6e0b 37 enum { LINE_STRIP = 1 };
akashvibhute 0:30537dec6e0b 38 enum { LINE_LIST = 2 };
akashvibhute 0:30537dec6e0b 39 enum { POLYGON = 3 };
akashvibhute 0:30537dec6e0b 40 enum { POINTS = 4 };
akashvibhute 0:30537dec6e0b 41 enum { ADD = 0 };
akashvibhute 0:30537dec6e0b 42 enum { REMOVE = 1 };
akashvibhute 0:30537dec6e0b 43
akashvibhute 0:30537dec6e0b 44 ImageMarker():
akashvibhute 0:30537dec6e0b 45 header(),
akashvibhute 0:30537dec6e0b 46 ns(""),
akashvibhute 0:30537dec6e0b 47 id(0),
akashvibhute 0:30537dec6e0b 48 type(0),
akashvibhute 0:30537dec6e0b 49 action(0),
akashvibhute 0:30537dec6e0b 50 position(),
akashvibhute 0:30537dec6e0b 51 scale(0),
akashvibhute 0:30537dec6e0b 52 outline_color(),
akashvibhute 0:30537dec6e0b 53 filled(0),
akashvibhute 0:30537dec6e0b 54 fill_color(),
akashvibhute 0:30537dec6e0b 55 lifetime(),
akashvibhute 0:30537dec6e0b 56 points_length(0), points(NULL),
akashvibhute 0:30537dec6e0b 57 outline_colors_length(0), outline_colors(NULL)
akashvibhute 0:30537dec6e0b 58 {
akashvibhute 0:30537dec6e0b 59 }
akashvibhute 0:30537dec6e0b 60
akashvibhute 0:30537dec6e0b 61 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 62 {
akashvibhute 0:30537dec6e0b 63 int offset = 0;
akashvibhute 0:30537dec6e0b 64 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 65 uint32_t length_ns = strlen(this->ns);
akashvibhute 0:30537dec6e0b 66 memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 67 offset += 4;
akashvibhute 0:30537dec6e0b 68 memcpy(outbuffer + offset, this->ns, length_ns);
akashvibhute 0:30537dec6e0b 69 offset += length_ns;
akashvibhute 0:30537dec6e0b 70 union {
akashvibhute 0:30537dec6e0b 71 int32_t real;
akashvibhute 0:30537dec6e0b 72 uint32_t base;
akashvibhute 0:30537dec6e0b 73 } u_id;
akashvibhute 0:30537dec6e0b 74 u_id.real = this->id;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 79 offset += sizeof(this->id);
akashvibhute 0:30537dec6e0b 80 union {
akashvibhute 0:30537dec6e0b 81 int32_t real;
akashvibhute 0:30537dec6e0b 82 uint32_t base;
akashvibhute 0:30537dec6e0b 83 } u_type;
akashvibhute 0:30537dec6e0b 84 u_type.real = this->type;
akashvibhute 0:30537dec6e0b 85 *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 86 *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 87 *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 88 *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 89 offset += sizeof(this->type);
akashvibhute 0:30537dec6e0b 90 union {
akashvibhute 0:30537dec6e0b 91 int32_t real;
akashvibhute 0:30537dec6e0b 92 uint32_t base;
akashvibhute 0:30537dec6e0b 93 } u_action;
akashvibhute 0:30537dec6e0b 94 u_action.real = this->action;
akashvibhute 0:30537dec6e0b 95 *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 96 *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 97 *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 98 *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 99 offset += sizeof(this->action);
akashvibhute 0:30537dec6e0b 100 offset += this->position.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 101 union {
akashvibhute 0:30537dec6e0b 102 float real;
akashvibhute 0:30537dec6e0b 103 uint32_t base;
akashvibhute 0:30537dec6e0b 104 } u_scale;
akashvibhute 0:30537dec6e0b 105 u_scale.real = this->scale;
akashvibhute 0:30537dec6e0b 106 *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 107 *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 109 *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 110 offset += sizeof(this->scale);
akashvibhute 0:30537dec6e0b 111 offset += this->outline_color.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 112 *(outbuffer + offset + 0) = (this->filled >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 113 offset += sizeof(this->filled);
akashvibhute 0:30537dec6e0b 114 offset += this->fill_color.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 115 *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 116 *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 117 *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 118 *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 119 offset += sizeof(this->lifetime.sec);
akashvibhute 0:30537dec6e0b 120 *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 121 *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 122 *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 123 *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 124 offset += sizeof(this->lifetime.nsec);
akashvibhute 0:30537dec6e0b 125 *(outbuffer + offset++) = points_length;
akashvibhute 0:30537dec6e0b 126 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 127 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 128 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 129 for( uint8_t i = 0; i < points_length; i++){
akashvibhute 0:30537dec6e0b 130 offset += this->points[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 131 }
akashvibhute 0:30537dec6e0b 132 *(outbuffer + offset++) = outline_colors_length;
akashvibhute 0:30537dec6e0b 133 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 134 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 135 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 136 for( uint8_t i = 0; i < outline_colors_length; i++){
akashvibhute 0:30537dec6e0b 137 offset += this->outline_colors[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 138 }
akashvibhute 0:30537dec6e0b 139 return offset;
akashvibhute 0:30537dec6e0b 140 }
akashvibhute 0:30537dec6e0b 141
akashvibhute 0:30537dec6e0b 142 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 143 {
akashvibhute 0:30537dec6e0b 144 int offset = 0;
akashvibhute 0:30537dec6e0b 145 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 146 uint32_t length_ns;
akashvibhute 0:30537dec6e0b 147 memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 148 offset += 4;
akashvibhute 0:30537dec6e0b 149 for(unsigned int k= offset; k< offset+length_ns; ++k){
akashvibhute 0:30537dec6e0b 150 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 151 }
akashvibhute 0:30537dec6e0b 152 inbuffer[offset+length_ns-1]=0;
akashvibhute 0:30537dec6e0b 153 this->ns = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 154 offset += length_ns;
akashvibhute 0:30537dec6e0b 155 union {
akashvibhute 0:30537dec6e0b 156 int32_t real;
akashvibhute 0:30537dec6e0b 157 uint32_t base;
akashvibhute 0:30537dec6e0b 158 } u_id;
akashvibhute 0:30537dec6e0b 159 u_id.base = 0;
akashvibhute 0:30537dec6e0b 160 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 161 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 162 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 163 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 164 this->id = u_id.real;
akashvibhute 0:30537dec6e0b 165 offset += sizeof(this->id);
akashvibhute 0:30537dec6e0b 166 union {
akashvibhute 0:30537dec6e0b 167 int32_t real;
akashvibhute 0:30537dec6e0b 168 uint32_t base;
akashvibhute 0:30537dec6e0b 169 } u_type;
akashvibhute 0:30537dec6e0b 170 u_type.base = 0;
akashvibhute 0:30537dec6e0b 171 u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 172 u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 173 u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 174 u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 175 this->type = u_type.real;
akashvibhute 0:30537dec6e0b 176 offset += sizeof(this->type);
akashvibhute 0:30537dec6e0b 177 union {
akashvibhute 0:30537dec6e0b 178 int32_t real;
akashvibhute 0:30537dec6e0b 179 uint32_t base;
akashvibhute 0:30537dec6e0b 180 } u_action;
akashvibhute 0:30537dec6e0b 181 u_action.base = 0;
akashvibhute 0:30537dec6e0b 182 u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 183 u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 184 u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 185 u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 186 this->action = u_action.real;
akashvibhute 0:30537dec6e0b 187 offset += sizeof(this->action);
akashvibhute 0:30537dec6e0b 188 offset += this->position.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 189 union {
akashvibhute 0:30537dec6e0b 190 float real;
akashvibhute 0:30537dec6e0b 191 uint32_t base;
akashvibhute 0:30537dec6e0b 192 } u_scale;
akashvibhute 0:30537dec6e0b 193 u_scale.base = 0;
akashvibhute 0:30537dec6e0b 194 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 195 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 196 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 197 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 198 this->scale = u_scale.real;
akashvibhute 0:30537dec6e0b 199 offset += sizeof(this->scale);
akashvibhute 0:30537dec6e0b 200 offset += this->outline_color.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 201 this->filled = ((uint8_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 202 offset += sizeof(this->filled);
akashvibhute 0:30537dec6e0b 203 offset += this->fill_color.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 204 this->lifetime.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 205 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 206 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 207 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 208 offset += sizeof(this->lifetime.sec);
akashvibhute 0:30537dec6e0b 209 this->lifetime.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 210 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 211 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 212 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 213 offset += sizeof(this->lifetime.nsec);
akashvibhute 0:30537dec6e0b 214 uint8_t points_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 215 if(points_lengthT > points_length)
akashvibhute 0:30537dec6e0b 216 this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 217 offset += 3;
akashvibhute 0:30537dec6e0b 218 points_length = points_lengthT;
akashvibhute 0:30537dec6e0b 219 for( uint8_t i = 0; i < points_length; i++){
akashvibhute 0:30537dec6e0b 220 offset += this->st_points.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 221 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
akashvibhute 0:30537dec6e0b 222 }
akashvibhute 0:30537dec6e0b 223 uint8_t outline_colors_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 224 if(outline_colors_lengthT > outline_colors_length)
akashvibhute 0:30537dec6e0b 225 this->outline_colors = (std_msgs::ColorRGBA*)realloc(this->outline_colors, outline_colors_lengthT * sizeof(std_msgs::ColorRGBA));
akashvibhute 0:30537dec6e0b 226 offset += 3;
akashvibhute 0:30537dec6e0b 227 outline_colors_length = outline_colors_lengthT;
akashvibhute 0:30537dec6e0b 228 for( uint8_t i = 0; i < outline_colors_length; i++){
akashvibhute 0:30537dec6e0b 229 offset += this->st_outline_colors.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 230 memcpy( &(this->outline_colors[i]), &(this->st_outline_colors), sizeof(std_msgs::ColorRGBA));
akashvibhute 0:30537dec6e0b 231 }
akashvibhute 0:30537dec6e0b 232 return offset;
akashvibhute 0:30537dec6e0b 233 }
akashvibhute 0:30537dec6e0b 234
akashvibhute 0:30537dec6e0b 235 const char * getType(){ return "visualization_msgs/ImageMarker"; };
akashvibhute 0:30537dec6e0b 236 const char * getMD5(){ return "1de93c67ec8858b831025a08fbf1b35c"; };
akashvibhute 0:30537dec6e0b 237
akashvibhute 0:30537dec6e0b 238 };
akashvibhute 0:30537dec6e0b 239
akashvibhute 0:30537dec6e0b 240 }
akashvibhute 0:30537dec6e0b 241 #endif