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/Marker.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_visualization_msgs_Marker_h #define _ROS_visualization_msgs_Marker_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 "geometry_msgs/Vector3.h" #include "std_msgs/ColorRGBA.h" #include "ros/duration.h" #include "geometry_msgs/Point.h" namespace visualization_msgs { class Marker : public ros::Msg { public: std_msgs::Header header; const char* ns; int32_t id; int32_t type; int32_t action; geometry_msgs::Pose pose; geometry_msgs::Vector3 scale; std_msgs::ColorRGBA color; ros::Duration lifetime; bool frame_locked; uint8_t points_length; geometry_msgs::Point st_points; geometry_msgs::Point * points; uint8_t colors_length; std_msgs::ColorRGBA st_colors; std_msgs::ColorRGBA * colors; const char* text; const char* mesh_resource; bool mesh_use_embedded_materials; enum { ARROW = 0 }; enum { CUBE = 1 }; enum { SPHERE = 2 }; enum { CYLINDER = 3 }; enum { LINE_STRIP = 4 }; enum { LINE_LIST = 5 }; enum { CUBE_LIST = 6 }; enum { SPHERE_LIST = 7 }; enum { POINTS = 8 }; enum { TEXT_VIEW_FACING = 9 }; enum { MESH_RESOURCE = 10 }; enum { TRIANGLE_LIST = 11 }; enum { ADD = 0 }; enum { MODIFY = 0 }; enum { DELETE = 2 }; Marker(): header(), ns(""), id(0), type(0), action(0), pose(), scale(), color(), lifetime(), frame_locked(0), points_length(0), points(NULL), colors_length(0), colors(NULL), text(""), mesh_resource(""), mesh_use_embedded_materials(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t length_ns = strlen(this->ns); memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->ns, length_ns); offset += length_ns; union { int32_t real; uint32_t base; } u_id; u_id.real = this->id; *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF; offset += sizeof(this->id); union { int32_t real; uint32_t base; } u_type; u_type.real = this->type; *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF; offset += sizeof(this->type); union { int32_t real; uint32_t base; } u_action; u_action.real = this->action; *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF; offset += sizeof(this->action); offset += this->pose.serialize(outbuffer + offset); offset += this->scale.serialize(outbuffer + offset); offset += this->color.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->lifetime.sec); *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->lifetime.nsec); union { bool real; uint8_t base; } u_frame_locked; u_frame_locked.real = this->frame_locked; *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF; offset += sizeof(this->frame_locked); *(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); } *(outbuffer + offset++) = colors_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < colors_length; i++){ offset += this->colors[i].serialize(outbuffer + offset); } uint32_t length_text = strlen(this->text); memcpy(outbuffer + offset, &length_text, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->text, length_text); offset += length_text; uint32_t length_mesh_resource = strlen(this->mesh_resource); memcpy(outbuffer + offset, &length_mesh_resource, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource); offset += length_mesh_resource; union { bool real; uint8_t base; } u_mesh_use_embedded_materials; u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials; *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF; offset += sizeof(this->mesh_use_embedded_materials); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_ns; memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_ns; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_ns-1]=0; this->ns = (char *)(inbuffer + offset-1); offset += length_ns; union { int32_t real; uint32_t base; } u_id; u_id.base = 0; u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->id = u_id.real; offset += sizeof(this->id); union { int32_t real; uint32_t base; } u_type; u_type.base = 0; u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->type = u_type.real; offset += sizeof(this->type); union { int32_t real; uint32_t base; } u_action; u_action.base = 0; u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->action = u_action.real; offset += sizeof(this->action); offset += this->pose.deserialize(inbuffer + offset); offset += this->scale.deserialize(inbuffer + offset); offset += this->color.deserialize(inbuffer + offset); this->lifetime.sec = ((uint32_t) (*(inbuffer + offset))); this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->lifetime.sec); this->lifetime.nsec = ((uint32_t) (*(inbuffer + offset))); this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->lifetime.nsec); union { bool real; uint8_t base; } u_frame_locked; u_frame_locked.base = 0; u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->frame_locked = u_frame_locked.real; offset += sizeof(this->frame_locked); uint8_t points_lengthT = *(inbuffer + offset++); if(points_lengthT > points_length) this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point)); 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(geometry_msgs::Point)); } uint8_t colors_lengthT = *(inbuffer + offset++); if(colors_lengthT > colors_length) this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA)); offset += 3; colors_length = colors_lengthT; for( uint8_t i = 0; i < colors_length; i++){ offset += this->st_colors.deserialize(inbuffer + offset); memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA)); } uint32_t length_text; memcpy(&length_text, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_text; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_text-1]=0; this->text = (char *)(inbuffer + offset-1); offset += length_text; uint32_t length_mesh_resource; memcpy(&length_mesh_resource, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_mesh_resource-1]=0; this->mesh_resource = (char *)(inbuffer + offset-1); offset += length_mesh_resource; union { bool real; uint8_t base; } u_mesh_use_embedded_materials; u_mesh_use_embedded_materials.base = 0; u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real; offset += sizeof(this->mesh_use_embedded_materials); return offset; } const char * getType(){ return "visualization_msgs/Marker"; }; const char * getMD5(){ return "18326976df9d29249efc939e00342cde"; }; }; } #endif