rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
Diff: manipulation_msgs/PlaceLocation.h
- Revision:
- 0:30537dec6e0b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/manipulation_msgs/PlaceLocation.h Sun Feb 15 10:53:43 2015 +0000 @@ -0,0 +1,105 @@ +#ifndef _ROS_manipulation_msgs_PlaceLocation_h +#define _ROS_manipulation_msgs_PlaceLocation_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "sensor_msgs/JointState.h" +#include "geometry_msgs/PoseStamped.h" +#include "manipulation_msgs/GripperTranslation.h" + +namespace manipulation_msgs +{ + + class PlaceLocation : public ros::Msg + { + public: + const char* id; + sensor_msgs::JointState post_place_posture; + geometry_msgs::PoseStamped place_pose; + manipulation_msgs::GripperTranslation approach; + manipulation_msgs::GripperTranslation retreat; + uint8_t allowed_touch_objects_length; + char* st_allowed_touch_objects; + char* * allowed_touch_objects; + + PlaceLocation(): + id(""), + post_place_posture(), + place_pose(), + approach(), + retreat(), + allowed_touch_objects_length(0), allowed_touch_objects(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_id = strlen(this->id); + memcpy(outbuffer + offset, &length_id, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->id, length_id); + offset += length_id; + offset += this->post_place_posture.serialize(outbuffer + offset); + offset += this->place_pose.serialize(outbuffer + offset); + offset += this->approach.serialize(outbuffer + offset); + offset += this->retreat.serialize(outbuffer + offset); + *(outbuffer + offset++) = allowed_touch_objects_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( uint8_t i = 0; i < allowed_touch_objects_length; i++){ + uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]); + memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi); + offset += length_allowed_touch_objectsi; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_id; + memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_id-1]=0; + this->id = (char *)(inbuffer + offset-1); + offset += length_id; + offset += this->post_place_posture.deserialize(inbuffer + offset); + offset += this->place_pose.deserialize(inbuffer + offset); + offset += this->approach.deserialize(inbuffer + offset); + offset += this->retreat.deserialize(inbuffer + offset); + uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++); + if(allowed_touch_objects_lengthT > allowed_touch_objects_length) + this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*)); + offset += 3; + allowed_touch_objects_length = allowed_touch_objects_lengthT; + for( uint8_t i = 0; i < allowed_touch_objects_length; i++){ + uint32_t length_st_allowed_touch_objects; + memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_allowed_touch_objects-1]=0; + this->st_allowed_touch_objects = (char *)(inbuffer + offset-1); + offset += length_st_allowed_touch_objects; + memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*)); + } + return offset; + } + + const char * getType(){ return "manipulation_msgs/PlaceLocation"; }; + const char * getMD5(){ return "0139dab9852add0e64233c5fb3b8a25a"; }; + + }; + +} +#endif