rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
trajectory_msgs/JointTrajectory.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_trajectory_msgs_JointTrajectory_h #define _ROS_trajectory_msgs_JointTrajectory_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "trajectory_msgs/JointTrajectoryPoint.h" namespace trajectory_msgs { class JointTrajectory : public ros::Msg { public: std_msgs::Header header; uint8_t joint_names_length; char* st_joint_names; char* * joint_names; uint8_t points_length; trajectory_msgs::JointTrajectoryPoint st_points; trajectory_msgs::JointTrajectoryPoint * points; JointTrajectory(): header(), joint_names_length(0), joint_names(NULL), points_length(0), points(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset++) = joint_names_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < joint_names_length; i++){ uint32_t length_joint_namesi = strlen(this->joint_names[i]); memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); offset += length_joint_namesi; } *(outbuffer + offset++) = points_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < points_length; i++){ offset += this->points[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint8_t joint_names_lengthT = *(inbuffer + offset++); if(joint_names_lengthT > joint_names_length) this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); offset += 3; joint_names_length = joint_names_lengthT; for( uint8_t i = 0; i < joint_names_length; i++){ uint32_t length_st_joint_names; memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_joint_names-1]=0; this->st_joint_names = (char *)(inbuffer + offset-1); offset += length_st_joint_names; memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); } uint8_t points_lengthT = *(inbuffer + offset++); if(points_lengthT > points_length) this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint)); offset += 3; points_length = points_lengthT; for( uint8_t i = 0; i < points_length; i++){ offset += this->st_points.deserialize(inbuffer + offset); memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint)); } return offset; } const char * getType(){ return "trajectory_msgs/JointTrajectory"; }; const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; }; }; } #endif