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/InteractiveMarker.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_InteractiveMarker_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_visualization_msgs_InteractiveMarker_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/Pose.h"
akashvibhute 0:30537dec6e0b 10 #include "visualization_msgs/MenuEntry.h"
akashvibhute 0:30537dec6e0b 11 #include "visualization_msgs/InteractiveMarkerControl.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 InteractiveMarker : public ros::Msg
akashvibhute 0:30537dec6e0b 17 {
akashvibhute 0:30537dec6e0b 18 public:
akashvibhute 0:30537dec6e0b 19 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::Pose pose;
akashvibhute 0:30537dec6e0b 21 const char* name;
akashvibhute 0:30537dec6e0b 22 const char* description;
akashvibhute 0:30537dec6e0b 23 float scale;
akashvibhute 0:30537dec6e0b 24 uint8_t menu_entries_length;
akashvibhute 0:30537dec6e0b 25 visualization_msgs::MenuEntry st_menu_entries;
akashvibhute 0:30537dec6e0b 26 visualization_msgs::MenuEntry * menu_entries;
akashvibhute 0:30537dec6e0b 27 uint8_t controls_length;
akashvibhute 0:30537dec6e0b 28 visualization_msgs::InteractiveMarkerControl st_controls;
akashvibhute 0:30537dec6e0b 29 visualization_msgs::InteractiveMarkerControl * controls;
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 InteractiveMarker():
akashvibhute 0:30537dec6e0b 32 header(),
akashvibhute 0:30537dec6e0b 33 pose(),
akashvibhute 0:30537dec6e0b 34 name(""),
akashvibhute 0:30537dec6e0b 35 description(""),
akashvibhute 0:30537dec6e0b 36 scale(0),
akashvibhute 0:30537dec6e0b 37 menu_entries_length(0), menu_entries(NULL),
akashvibhute 0:30537dec6e0b 38 controls_length(0), controls(NULL)
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 }
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 int offset = 0;
akashvibhute 0:30537dec6e0b 45 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 46 offset += this->pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 47 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 49 offset += 4;
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 51 offset += length_name;
akashvibhute 0:30537dec6e0b 52 uint32_t length_description = strlen(this->description);
akashvibhute 0:30537dec6e0b 53 memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 54 offset += 4;
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, this->description, length_description);
akashvibhute 0:30537dec6e0b 56 offset += length_description;
akashvibhute 0:30537dec6e0b 57 union {
akashvibhute 0:30537dec6e0b 58 float real;
akashvibhute 0:30537dec6e0b 59 uint32_t base;
akashvibhute 0:30537dec6e0b 60 } u_scale;
akashvibhute 0:30537dec6e0b 61 u_scale.real = this->scale;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 offset += sizeof(this->scale);
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset++) = menu_entries_length;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 71 for( uint8_t i = 0; i < menu_entries_length; i++){
akashvibhute 0:30537dec6e0b 72 offset += this->menu_entries[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = controls_length;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 78 for( uint8_t i = 0; i < controls_length; i++){
akashvibhute 0:30537dec6e0b 79 offset += this->controls[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 80 }
akashvibhute 0:30537dec6e0b 81 return offset;
akashvibhute 0:30537dec6e0b 82 }
akashvibhute 0:30537dec6e0b 83
akashvibhute 0:30537dec6e0b 84 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 85 {
akashvibhute 0:30537dec6e0b 86 int offset = 0;
akashvibhute 0:30537dec6e0b 87 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 88 offset += this->pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 89 uint32_t length_name;
akashvibhute 0:30537dec6e0b 90 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 91 offset += 4;
akashvibhute 0:30537dec6e0b 92 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 93 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 96 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 97 offset += length_name;
akashvibhute 0:30537dec6e0b 98 uint32_t length_description;
akashvibhute 0:30537dec6e0b 99 memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 100 offset += 4;
akashvibhute 0:30537dec6e0b 101 for(unsigned int k= offset; k< offset+length_description; ++k){
akashvibhute 0:30537dec6e0b 102 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 inbuffer[offset+length_description-1]=0;
akashvibhute 0:30537dec6e0b 105 this->description = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 106 offset += length_description;
akashvibhute 0:30537dec6e0b 107 union {
akashvibhute 0:30537dec6e0b 108 float real;
akashvibhute 0:30537dec6e0b 109 uint32_t base;
akashvibhute 0:30537dec6e0b 110 } u_scale;
akashvibhute 0:30537dec6e0b 111 u_scale.base = 0;
akashvibhute 0:30537dec6e0b 112 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 113 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 114 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 115 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 116 this->scale = u_scale.real;
akashvibhute 0:30537dec6e0b 117 offset += sizeof(this->scale);
akashvibhute 0:30537dec6e0b 118 uint8_t menu_entries_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 119 if(menu_entries_lengthT > menu_entries_length)
akashvibhute 0:30537dec6e0b 120 this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry));
akashvibhute 0:30537dec6e0b 121 offset += 3;
akashvibhute 0:30537dec6e0b 122 menu_entries_length = menu_entries_lengthT;
akashvibhute 0:30537dec6e0b 123 for( uint8_t i = 0; i < menu_entries_length; i++){
akashvibhute 0:30537dec6e0b 124 offset += this->st_menu_entries.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 125 memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry));
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127 uint8_t controls_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 128 if(controls_lengthT > controls_length)
akashvibhute 0:30537dec6e0b 129 this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl));
akashvibhute 0:30537dec6e0b 130 offset += 3;
akashvibhute 0:30537dec6e0b 131 controls_length = controls_lengthT;
akashvibhute 0:30537dec6e0b 132 for( uint8_t i = 0; i < controls_length; i++){
akashvibhute 0:30537dec6e0b 133 offset += this->st_controls.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 134 memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl));
akashvibhute 0:30537dec6e0b 135 }
akashvibhute 0:30537dec6e0b 136 return offset;
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138
akashvibhute 0:30537dec6e0b 139 const char * getType(){ return "visualization_msgs/InteractiveMarker"; };
akashvibhute 0:30537dec6e0b 140 const char * getMD5(){ return "311bd5f6cd6a20820ac0ba84315f4e22"; };
akashvibhute 0:30537dec6e0b 141
akashvibhute 0:30537dec6e0b 142 };
akashvibhute 0:30537dec6e0b 143
akashvibhute 0:30537dec6e0b 144 }
akashvibhute 0:30537dec6e0b 145 #endif