Diff: navfn/SetCostmap.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b navfn/SetCostmap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/navfn/SetCostmap.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,109 @@
+#ifndef _ROS_SERVICE_SetCostmap_h
+#define _ROS_SERVICE_SetCostmap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace navfn
+{
+
+static const char SETCOSTMAP[] = "navfn/SetCostmap";
+
+  class SetCostmapRequest : public ros::Msg
+  {
+    public:
+      uint8_t costs_length;
+      uint8_t st_costs;
+      uint8_t * costs;
+      uint16_t height;
+      uint16_t width;
+
+    SetCostmapRequest():
+      costs_length(0), costs(NULL),
+      height(0),
+      width(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = costs_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < costs_length; i++){
+      *(outbuffer + offset + 0) = (this->costs[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->costs[i]);
+      }
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->width);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t costs_lengthT = *(inbuffer + offset++);
+      if(costs_lengthT > costs_length)
+        this->costs = (uint8_t*)realloc(this->costs, costs_lengthT * sizeof(uint8_t));
+      offset += 3;
+      costs_length = costs_lengthT;
+      for( uint8_t i = 0; i < costs_length; i++){
+      this->st_costs =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_costs);
+        memcpy( &(this->costs[i]), &(this->st_costs), sizeof(uint8_t));
+      }
+      this->height =  ((uint16_t) (*(inbuffer + offset)));
+      this->height |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->height);
+      this->width =  ((uint16_t) (*(inbuffer + offset)));
+      this->width |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->width);
+     return offset;
+    }
+
+    const char * getType(){ return SETCOSTMAP; };
+    const char * getMD5(){ return "370ec969cdb71f9cde7c7cbe0d752308"; };
+
+  };
+
+  class SetCostmapResponse : public ros::Msg
+  {
+    public:
+
+    SetCostmapResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETCOSTMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetCostmap {
+    public:
+    typedef SetCostmapRequest Request;
+    typedef SetCostmapResponse Response;
+  };
+
+}
+#endif
+