Diff: navfn/MakeNavPlan.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b navfn/MakeNavPlan.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/navfn/MakeNavPlan.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,122 @@
+#ifndef _ROS_SERVICE_MakeNavPlan_h
+#define _ROS_SERVICE_MakeNavPlan_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PoseStamped.h"
+
+namespace navfn
+{
+
+static const char MAKENAVPLAN[] = "navfn/MakeNavPlan";
+
+  class MakeNavPlanRequest : public ros::Msg
+  {
+    public:
+      geometry_msgs::PoseStamped start;
+      geometry_msgs::PoseStamped goal;
+
+    MakeNavPlanRequest():
+      start(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->start.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->start.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return MAKENAVPLAN; };
+    const char * getMD5(){ return "2fe3126bd5b2d56edd5005220333d4fd"; };
+
+  };
+
+  class MakeNavPlanResponse : public ros::Msg
+  {
+    public:
+      uint8_t plan_found;
+      const char* error_message;
+      uint8_t path_length;
+      geometry_msgs::PoseStamped st_path;
+      geometry_msgs::PoseStamped * path;
+
+    MakeNavPlanResponse():
+      plan_found(0),
+      error_message(""),
+      path_length(0), path(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->plan_found >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->plan_found);
+      uint32_t length_error_message = strlen(this->error_message);
+      memcpy(outbuffer + offset, &length_error_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->error_message, length_error_message);
+      offset += length_error_message;
+      *(outbuffer + offset++) = path_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < path_length; i++){
+      offset += this->path[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->plan_found =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->plan_found);
+      uint32_t length_error_message;
+      memcpy(&length_error_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_error_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_error_message-1]=0;
+      this->error_message = (char *)(inbuffer + offset-1);
+      offset += length_error_message;
+      uint8_t path_lengthT = *(inbuffer + offset++);
+      if(path_lengthT > path_length)
+        this->path = (geometry_msgs::PoseStamped*)realloc(this->path, path_lengthT * sizeof(geometry_msgs::PoseStamped));
+      offset += 3;
+      path_length = path_lengthT;
+      for( uint8_t i = 0; i < path_length; i++){
+      offset += this->st_path.deserialize(inbuffer + offset);
+        memcpy( &(this->path[i]), &(this->st_path), sizeof(geometry_msgs::PoseStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return MAKENAVPLAN; };
+    const char * getMD5(){ return "8b8ed7edf1b237dc9ddda8c8ffed5d3a"; };
+
+  };
+
+  class MakeNavPlan {
+    public:
+    typedef MakeNavPlanRequest Request;
+    typedef MakeNavPlanResponse Response;
+  };
+
+}
+#endif
+