rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
control_msgs/PointHeadGoal.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_control_msgs_PointHeadGoal_h #define _ROS_control_msgs_PointHeadGoal_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/PointStamped.h" #include "geometry_msgs/Vector3.h" #include "ros/duration.h" namespace control_msgs { class PointHeadGoal : public ros::Msg { public: geometry_msgs::PointStamped target; geometry_msgs::Vector3 pointing_axis; const char* pointing_frame; ros::Duration min_duration; float max_velocity; PointHeadGoal(): target(), pointing_axis(), pointing_frame(""), min_duration(), max_velocity(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->target.serialize(outbuffer + offset); offset += this->pointing_axis.serialize(outbuffer + offset); uint32_t length_pointing_frame = strlen(this->pointing_frame); memcpy(outbuffer + offset, &length_pointing_frame, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame); offset += length_pointing_frame; *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->min_duration.sec); *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->min_duration.nsec); offset += serializeAvrFloat64(outbuffer + offset, this->max_velocity); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->target.deserialize(inbuffer + offset); offset += this->pointing_axis.deserialize(inbuffer + offset); uint32_t length_pointing_frame; memcpy(&length_pointing_frame, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_pointing_frame-1]=0; this->pointing_frame = (char *)(inbuffer + offset-1); offset += length_pointing_frame; this->min_duration.sec = ((uint32_t) (*(inbuffer + offset))); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->min_duration.sec); this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset))); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->min_duration.nsec); offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_velocity)); return offset; } const char * getType(){ return "control_msgs/PointHeadGoal"; }; const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; }; }; } #endif