rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
household_objects_database_msgs/SaveScan.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_SaveScan_h #define _ROS_SERVICE_SaveScan_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/PoseStamped.h" #include "household_objects_database_msgs/DatabaseReturnCode.h" namespace household_objects_database_msgs { static const char SAVESCAN[] = "household_objects_database_msgs/SaveScan"; class SaveScanRequest : public ros::Msg { public: int32_t scaled_model_id; geometry_msgs::PoseStamped ground_truth_pose; const char* bagfile_location; const char* scan_source; const char* cloud_topic; SaveScanRequest(): scaled_model_id(0), ground_truth_pose(), bagfile_location(""), scan_source(""), cloud_topic("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { int32_t real; uint32_t base; } u_scaled_model_id; u_scaled_model_id.real = this->scaled_model_id; *(outbuffer + offset + 0) = (u_scaled_model_id.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_scaled_model_id.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_scaled_model_id.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_scaled_model_id.base >> (8 * 3)) & 0xFF; offset += sizeof(this->scaled_model_id); offset += this->ground_truth_pose.serialize(outbuffer + offset); uint32_t length_bagfile_location = strlen(this->bagfile_location); memcpy(outbuffer + offset, &length_bagfile_location, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->bagfile_location, length_bagfile_location); offset += length_bagfile_location; uint32_t length_scan_source = strlen(this->scan_source); memcpy(outbuffer + offset, &length_scan_source, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->scan_source, length_scan_source); offset += length_scan_source; uint32_t length_cloud_topic = strlen(this->cloud_topic); memcpy(outbuffer + offset, &length_cloud_topic, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->cloud_topic, length_cloud_topic); offset += length_cloud_topic; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { int32_t real; uint32_t base; } u_scaled_model_id; u_scaled_model_id.base = 0; u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_scaled_model_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->scaled_model_id = u_scaled_model_id.real; offset += sizeof(this->scaled_model_id); offset += this->ground_truth_pose.deserialize(inbuffer + offset); uint32_t length_bagfile_location; memcpy(&length_bagfile_location, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_bagfile_location; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_bagfile_location-1]=0; this->bagfile_location = (char *)(inbuffer + offset-1); offset += length_bagfile_location; uint32_t length_scan_source; memcpy(&length_scan_source, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_scan_source; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_scan_source-1]=0; this->scan_source = (char *)(inbuffer + offset-1); offset += length_scan_source; uint32_t length_cloud_topic; memcpy(&length_cloud_topic, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_cloud_topic; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_cloud_topic-1]=0; this->cloud_topic = (char *)(inbuffer + offset-1); offset += length_cloud_topic; return offset; } const char * getType(){ return SAVESCAN; }; const char * getMD5(){ return "492f49d320aa26325df5fb078c297fa5"; }; }; class SaveScanResponse : public ros::Msg { public: household_objects_database_msgs::DatabaseReturnCode return_code; SaveScanResponse(): return_code() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->return_code.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->return_code.deserialize(inbuffer + offset); return offset; } const char * getType(){ return SAVESCAN; }; const char * getMD5(){ return "b49fccceeb56b964ed23601916a24082"; }; }; class SaveScan { public: typedef SaveScanRequest Request; typedef SaveScanResponse Response; }; } #endif