nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

nav_msgs/GetPlan.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
0:06fc856e99ca 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:dff241b66f84 1 #ifndef _ROS_SERVICE_GetPlan_h
nucho 3:dff241b66f84 2 #define _ROS_SERVICE_GetPlan_h
nucho 0:06fc856e99ca 3 #include <stdint.h>
nucho 0:06fc856e99ca 4 #include <string.h>
nucho 0:06fc856e99ca 5 #include <stdlib.h>
nucho 3:dff241b66f84 6 #include "ros/msg.h"
nucho 0:06fc856e99ca 7 #include "geometry_msgs/PoseStamped.h"
nucho 0:06fc856e99ca 8 #include "nav_msgs/Path.h"
nucho 0:06fc856e99ca 9
nucho 0:06fc856e99ca 10 namespace nav_msgs
nucho 0:06fc856e99ca 11 {
nucho 0:06fc856e99ca 12
nucho 0:06fc856e99ca 13 static const char GETPLAN[] = "nav_msgs/GetPlan";
nucho 0:06fc856e99ca 14
nucho 0:06fc856e99ca 15 class GetPlanRequest : public ros::Msg
nucho 0:06fc856e99ca 16 {
nucho 0:06fc856e99ca 17 public:
nucho 0:06fc856e99ca 18 geometry_msgs::PoseStamped start;
nucho 0:06fc856e99ca 19 geometry_msgs::PoseStamped goal;
nucho 0:06fc856e99ca 20 float tolerance;
nucho 0:06fc856e99ca 21
nucho 3:dff241b66f84 22 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 23 {
nucho 0:06fc856e99ca 24 int offset = 0;
nucho 0:06fc856e99ca 25 offset += this->start.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 26 offset += this->goal.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 27 union {
nucho 0:06fc856e99ca 28 float real;
nucho 3:dff241b66f84 29 uint32_t base;
nucho 0:06fc856e99ca 30 } u_tolerance;
nucho 0:06fc856e99ca 31 u_tolerance.real = this->tolerance;
nucho 0:06fc856e99ca 32 *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 33 *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 34 *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
nucho 0:06fc856e99ca 35 *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
nucho 0:06fc856e99ca 36 offset += sizeof(this->tolerance);
nucho 0:06fc856e99ca 37 return offset;
nucho 0:06fc856e99ca 38 }
nucho 0:06fc856e99ca 39
nucho 0:06fc856e99ca 40 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 41 {
nucho 0:06fc856e99ca 42 int offset = 0;
nucho 0:06fc856e99ca 43 offset += this->start.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 44 offset += this->goal.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 45 union {
nucho 0:06fc856e99ca 46 float real;
nucho 3:dff241b66f84 47 uint32_t base;
nucho 0:06fc856e99ca 48 } u_tolerance;
nucho 0:06fc856e99ca 49 u_tolerance.base = 0;
nucho 3:dff241b66f84 50 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:dff241b66f84 51 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:dff241b66f84 52 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:dff241b66f84 53 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:06fc856e99ca 54 this->tolerance = u_tolerance.real;
nucho 0:06fc856e99ca 55 offset += sizeof(this->tolerance);
nucho 0:06fc856e99ca 56 return offset;
nucho 0:06fc856e99ca 57 }
nucho 0:06fc856e99ca 58
nucho 3:dff241b66f84 59 virtual const char * getType(){ return GETPLAN; };
nucho 3:dff241b66f84 60 virtual const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
nucho 0:06fc856e99ca 61
nucho 0:06fc856e99ca 62 };
nucho 0:06fc856e99ca 63
nucho 0:06fc856e99ca 64 class GetPlanResponse : public ros::Msg
nucho 0:06fc856e99ca 65 {
nucho 0:06fc856e99ca 66 public:
nucho 0:06fc856e99ca 67 nav_msgs::Path plan;
nucho 0:06fc856e99ca 68
nucho 3:dff241b66f84 69 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 70 {
nucho 0:06fc856e99ca 71 int offset = 0;
nucho 0:06fc856e99ca 72 offset += this->plan.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 73 return offset;
nucho 0:06fc856e99ca 74 }
nucho 0:06fc856e99ca 75
nucho 0:06fc856e99ca 76 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 77 {
nucho 0:06fc856e99ca 78 int offset = 0;
nucho 0:06fc856e99ca 79 offset += this->plan.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 80 return offset;
nucho 0:06fc856e99ca 81 }
nucho 0:06fc856e99ca 82
nucho 3:dff241b66f84 83 virtual const char * getType(){ return GETPLAN; };
nucho 3:dff241b66f84 84 virtual const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
nucho 3:dff241b66f84 85
nucho 3:dff241b66f84 86 };
nucho 0:06fc856e99ca 87
nucho 3:dff241b66f84 88 class GetPlan {
nucho 3:dff241b66f84 89 public:
nucho 3:dff241b66f84 90 typedef GetPlanRequest Request;
nucho 3:dff241b66f84 91 typedef GetPlanResponse Response;
nucho 0:06fc856e99ca 92 };
nucho 0:06fc856e99ca 93
nucho 0:06fc856e99ca 94 }
nucho 0:06fc856e99ca 95 #endif