ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
Diff: sensor_msgs/MultiDOFJointState.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 sensor_msgs/MultiDOFJointState.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/MultiDOFJointState.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,159 @@ +#ifndef _ROS_sensor_msgs_MultiDOFJointState_h +#define _ROS_sensor_msgs_MultiDOFJointState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Transform.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Wrench.h" + +namespace sensor_msgs +{ + + class MultiDOFJointState : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t joint_names_length; + typedef char* _joint_names_type; + _joint_names_type st_joint_names; + _joint_names_type * joint_names; + uint32_t transforms_length; + typedef geometry_msgs::Transform _transforms_type; + _transforms_type st_transforms; + _transforms_type * transforms; + uint32_t twist_length; + typedef geometry_msgs::Twist _twist_type; + _twist_type st_twist; + _twist_type * twist; + uint32_t wrench_length; + typedef geometry_msgs::Wrench _wrench_type; + _wrench_type st_wrench; + _wrench_type * wrench; + + MultiDOFJointState(): + header(), + joint_names_length(0), joint_names(NULL), + transforms_length(0), transforms(NULL), + twist_length(0), twist(NULL), + wrench_length(0), wrench(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->joint_names_length); + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_joint_namesi = strlen(this->joint_names[i]); + varToArr(outbuffer + offset, length_joint_namesi); + offset += 4; + memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); + offset += length_joint_namesi; + } + *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->transforms_length); + for( uint32_t i = 0; i < transforms_length; i++){ + offset += this->transforms[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->twist_length); + for( uint32_t i = 0; i < twist_length; i++){ + offset += this->twist[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->wrench_length); + for( uint32_t i = 0; i < wrench_length; i++){ + offset += this->wrench[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->joint_names_length); + if(joint_names_lengthT > joint_names_length) + this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); + joint_names_length = joint_names_lengthT; + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_st_joint_names; + arrToVar(length_st_joint_names, (inbuffer + offset)); + 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*)); + } + uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->transforms_length); + if(transforms_lengthT > transforms_length) + this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); + transforms_length = transforms_lengthT; + for( uint32_t i = 0; i < transforms_length; i++){ + offset += this->st_transforms.deserialize(inbuffer + offset); + memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); + } + uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->twist_length); + if(twist_lengthT > twist_length) + this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); + twist_length = twist_lengthT; + for( uint32_t i = 0; i < twist_length; i++){ + offset += this->st_twist.deserialize(inbuffer + offset); + memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); + } + uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->wrench_length); + if(wrench_lengthT > wrench_length) + this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench)); + wrench_length = wrench_lengthT; + for( uint32_t i = 0; i < wrench_length; i++){ + offset += this->st_wrench.deserialize(inbuffer + offset); + memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench)); + } + return offset; + } + + const char * getType(){ return "sensor_msgs/MultiDOFJointState"; }; + const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; }; + + }; + +} +#endif \ No newline at end of file