rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
laser_assembler/AssembleScans.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_AssembleScans_h #define _ROS_SERVICE_AssembleScans_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "ros/time.h" #include "sensor_msgs/PointCloud.h" namespace laser_assembler { static const char ASSEMBLESCANS[] = "laser_assembler/AssembleScans"; class AssembleScansRequest : public ros::Msg { public: ros::Time begin; ros::Time end; AssembleScansRequest(): begin(), end() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->begin.sec); *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->begin.nsec); *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->end.sec); *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->end.nsec); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; this->begin.sec = ((uint32_t) (*(inbuffer + offset))); this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->begin.sec); this->begin.nsec = ((uint32_t) (*(inbuffer + offset))); this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->begin.nsec); this->end.sec = ((uint32_t) (*(inbuffer + offset))); this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->end.sec); this->end.nsec = ((uint32_t) (*(inbuffer + offset))); this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->end.nsec); return offset; } const char * getType(){ return ASSEMBLESCANS; }; const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; }; }; class AssembleScansResponse : public ros::Msg { public: sensor_msgs::PointCloud cloud; AssembleScansResponse(): cloud() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->cloud.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->cloud.deserialize(inbuffer + offset); return offset; } const char * getType(){ return ASSEMBLESCANS; }; const char * getMD5(){ return "4217b28a903e4ad7869a83b3653110ff"; }; }; class AssembleScans { public: typedef AssembleScansRequest Request; typedef AssembleScansResponse Response; }; } #endif