rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
visualization_msgs/InteractiveMarker.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_visualization_msgs_InteractiveMarker_h #define _ROS_visualization_msgs_InteractiveMarker_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/Pose.h" #include "visualization_msgs/MenuEntry.h" #include "visualization_msgs/InteractiveMarkerControl.h" namespace visualization_msgs { class InteractiveMarker : public ros::Msg { public: std_msgs::Header header; geometry_msgs::Pose pose; const char* name; const char* description; float scale; uint8_t menu_entries_length; visualization_msgs::MenuEntry st_menu_entries; visualization_msgs::MenuEntry * menu_entries; uint8_t controls_length; visualization_msgs::InteractiveMarkerControl st_controls; visualization_msgs::InteractiveMarkerControl * controls; InteractiveMarker(): header(), pose(), name(""), description(""), scale(0), menu_entries_length(0), menu_entries(NULL), controls_length(0), controls(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->pose.serialize(outbuffer + offset); uint32_t length_name = strlen(this->name); memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; uint32_t length_description = strlen(this->description); memcpy(outbuffer + offset, &length_description, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->description, length_description); offset += length_description; union { float real; uint32_t base; } u_scale; u_scale.real = this->scale; *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF; offset += sizeof(this->scale); *(outbuffer + offset++) = menu_entries_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < menu_entries_length; i++){ offset += this->menu_entries[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = controls_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < controls_length; i++){ offset += this->controls[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->pose.deserialize(inbuffer + offset); uint32_t length_name; memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; uint32_t length_description; memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_description; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_description-1]=0; this->description = (char *)(inbuffer + offset-1); offset += length_description; union { float real; uint32_t base; } u_scale; u_scale.base = 0; u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->scale = u_scale.real; offset += sizeof(this->scale); uint8_t menu_entries_lengthT = *(inbuffer + offset++); if(menu_entries_lengthT > menu_entries_length) this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry)); offset += 3; menu_entries_length = menu_entries_lengthT; for( uint8_t i = 0; i < menu_entries_length; i++){ offset += this->st_menu_entries.deserialize(inbuffer + offset); memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry)); } uint8_t controls_lengthT = *(inbuffer + offset++); if(controls_lengthT > controls_length) this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl)); offset += 3; controls_length = controls_lengthT; for( uint8_t i = 0; i < controls_length; i++){ offset += this->st_controls.deserialize(inbuffer + offset); memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl)); } return offset; } const char * getType(){ return "visualization_msgs/InteractiveMarker"; }; const char * getMD5(){ return "311bd5f6cd6a20820ac0ba84315f4e22"; }; }; } #endif