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/InteractiveMarkerControl.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_InteractiveMarkerControl_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_visualization_msgs_InteractiveMarkerControl_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/Quaternion.h"
akashvibhute 0:30537dec6e0b 9 #include "visualization_msgs/Marker.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace visualization_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class InteractiveMarkerControl : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* name;
akashvibhute 0:30537dec6e0b 18 geometry_msgs::Quaternion orientation;
akashvibhute 0:30537dec6e0b 19 uint8_t orientation_mode;
akashvibhute 0:30537dec6e0b 20 uint8_t interaction_mode;
akashvibhute 0:30537dec6e0b 21 bool always_visible;
akashvibhute 0:30537dec6e0b 22 uint8_t markers_length;
akashvibhute 0:30537dec6e0b 23 visualization_msgs::Marker st_markers;
akashvibhute 0:30537dec6e0b 24 visualization_msgs::Marker * markers;
akashvibhute 0:30537dec6e0b 25 bool independent_marker_orientation;
akashvibhute 0:30537dec6e0b 26 const char* description;
akashvibhute 0:30537dec6e0b 27 enum { INHERIT = 0 };
akashvibhute 0:30537dec6e0b 28 enum { FIXED = 1 };
akashvibhute 0:30537dec6e0b 29 enum { VIEW_FACING = 2 };
akashvibhute 0:30537dec6e0b 30 enum { NONE = 0 };
akashvibhute 0:30537dec6e0b 31 enum { MENU = 1 };
akashvibhute 0:30537dec6e0b 32 enum { BUTTON = 2 };
akashvibhute 0:30537dec6e0b 33 enum { MOVE_AXIS = 3 };
akashvibhute 0:30537dec6e0b 34 enum { MOVE_PLANE = 4 };
akashvibhute 0:30537dec6e0b 35 enum { ROTATE_AXIS = 5 };
akashvibhute 0:30537dec6e0b 36 enum { MOVE_ROTATE = 6 };
akashvibhute 0:30537dec6e0b 37 enum { MOVE_3D = 7 };
akashvibhute 0:30537dec6e0b 38 enum { ROTATE_3D = 8 };
akashvibhute 0:30537dec6e0b 39 enum { MOVE_ROTATE_3D = 9 };
akashvibhute 0:30537dec6e0b 40
akashvibhute 0:30537dec6e0b 41 InteractiveMarkerControl():
akashvibhute 0:30537dec6e0b 42 name(""),
akashvibhute 0:30537dec6e0b 43 orientation(),
akashvibhute 0:30537dec6e0b 44 orientation_mode(0),
akashvibhute 0:30537dec6e0b 45 interaction_mode(0),
akashvibhute 0:30537dec6e0b 46 always_visible(0),
akashvibhute 0:30537dec6e0b 47 markers_length(0), markers(NULL),
akashvibhute 0:30537dec6e0b 48 independent_marker_orientation(0),
akashvibhute 0:30537dec6e0b 49 description("")
akashvibhute 0:30537dec6e0b 50 {
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 54 {
akashvibhute 0:30537dec6e0b 55 int offset = 0;
akashvibhute 0:30537dec6e0b 56 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 58 offset += 4;
akashvibhute 0:30537dec6e0b 59 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 60 offset += length_name;
akashvibhute 0:30537dec6e0b 61 offset += this->orientation.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 offset += sizeof(this->orientation_mode);
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 offset += sizeof(this->interaction_mode);
akashvibhute 0:30537dec6e0b 66 union {
akashvibhute 0:30537dec6e0b 67 bool real;
akashvibhute 0:30537dec6e0b 68 uint8_t base;
akashvibhute 0:30537dec6e0b 69 } u_always_visible;
akashvibhute 0:30537dec6e0b 70 u_always_visible.real = this->always_visible;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 72 offset += sizeof(this->always_visible);
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = markers_length;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 77 for( uint8_t i = 0; i < markers_length; i++){
akashvibhute 0:30537dec6e0b 78 offset += this->markers[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80 union {
akashvibhute 0:30537dec6e0b 81 bool real;
akashvibhute 0:30537dec6e0b 82 uint8_t base;
akashvibhute 0:30537dec6e0b 83 } u_independent_marker_orientation;
akashvibhute 0:30537dec6e0b 84 u_independent_marker_orientation.real = this->independent_marker_orientation;
akashvibhute 0:30537dec6e0b 85 *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 86 offset += sizeof(this->independent_marker_orientation);
akashvibhute 0:30537dec6e0b 87 uint32_t length_description = strlen(this->description);
akashvibhute 0:30537dec6e0b 88 memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 89 offset += 4;
akashvibhute 0:30537dec6e0b 90 memcpy(outbuffer + offset, this->description, length_description);
akashvibhute 0:30537dec6e0b 91 offset += length_description;
akashvibhute 0:30537dec6e0b 92 return offset;
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 96 {
akashvibhute 0:30537dec6e0b 97 int offset = 0;
akashvibhute 0:30537dec6e0b 98 uint32_t length_name;
akashvibhute 0:30537dec6e0b 99 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 100 offset += 4;
akashvibhute 0:30537dec6e0b 101 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 102 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 105 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 106 offset += length_name;
akashvibhute 0:30537dec6e0b 107 offset += this->orientation.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 108 this->orientation_mode = ((uint8_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 109 offset += sizeof(this->orientation_mode);
akashvibhute 0:30537dec6e0b 110 this->interaction_mode = ((uint8_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 111 offset += sizeof(this->interaction_mode);
akashvibhute 0:30537dec6e0b 112 union {
akashvibhute 0:30537dec6e0b 113 bool real;
akashvibhute 0:30537dec6e0b 114 uint8_t base;
akashvibhute 0:30537dec6e0b 115 } u_always_visible;
akashvibhute 0:30537dec6e0b 116 u_always_visible.base = 0;
akashvibhute 0:30537dec6e0b 117 u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 118 this->always_visible = u_always_visible.real;
akashvibhute 0:30537dec6e0b 119 offset += sizeof(this->always_visible);
akashvibhute 0:30537dec6e0b 120 uint8_t markers_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 121 if(markers_lengthT > markers_length)
akashvibhute 0:30537dec6e0b 122 this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
akashvibhute 0:30537dec6e0b 123 offset += 3;
akashvibhute 0:30537dec6e0b 124 markers_length = markers_lengthT;
akashvibhute 0:30537dec6e0b 125 for( uint8_t i = 0; i < markers_length; i++){
akashvibhute 0:30537dec6e0b 126 offset += this->st_markers.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 127 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
akashvibhute 0:30537dec6e0b 128 }
akashvibhute 0:30537dec6e0b 129 union {
akashvibhute 0:30537dec6e0b 130 bool real;
akashvibhute 0:30537dec6e0b 131 uint8_t base;
akashvibhute 0:30537dec6e0b 132 } u_independent_marker_orientation;
akashvibhute 0:30537dec6e0b 133 u_independent_marker_orientation.base = 0;
akashvibhute 0:30537dec6e0b 134 u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 135 this->independent_marker_orientation = u_independent_marker_orientation.real;
akashvibhute 0:30537dec6e0b 136 offset += sizeof(this->independent_marker_orientation);
akashvibhute 0:30537dec6e0b 137 uint32_t length_description;
akashvibhute 0:30537dec6e0b 138 memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 139 offset += 4;
akashvibhute 0:30537dec6e0b 140 for(unsigned int k= offset; k< offset+length_description; ++k){
akashvibhute 0:30537dec6e0b 141 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 142 }
akashvibhute 0:30537dec6e0b 143 inbuffer[offset+length_description-1]=0;
akashvibhute 0:30537dec6e0b 144 this->description = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 145 offset += length_description;
akashvibhute 0:30537dec6e0b 146 return offset;
akashvibhute 0:30537dec6e0b 147 }
akashvibhute 0:30537dec6e0b 148
akashvibhute 0:30537dec6e0b 149 const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
akashvibhute 0:30537dec6e0b 150 const char * getMD5(){ return "e3a939c98cdd4f709d8e1dec2a9c3f37"; };
akashvibhute 0:30537dec6e0b 151
akashvibhute 0:30537dec6e0b 152 };
akashvibhute 0:30537dec6e0b 153
akashvibhute 0:30537dec6e0b 154 }
akashvibhute 0:30537dec6e0b 155 #endif