nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
nav_msgs/GetPlan.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_SERVICE_GetPlan_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_GetPlan_h |
| nucho | 0:77afd7560544 | 3 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 4 | #include <string.h> |
| nucho | 0:77afd7560544 | 5 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 6 | #include "ros/msg.h" |
| nucho | 0:77afd7560544 | 7 | #include "geometry_msgs/PoseStamped.h" |
| nucho | 0:77afd7560544 | 8 | #include "nav_msgs/Path.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | namespace nav_msgs |
| nucho | 0:77afd7560544 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | static const char GETPLAN[] = "nav_msgs/GetPlan"; |
| nucho | 0:77afd7560544 | 14 | |
| nucho | 0:77afd7560544 | 15 | class GetPlanRequest : public ros::Msg |
| nucho | 0:77afd7560544 | 16 | { |
| nucho | 0:77afd7560544 | 17 | public: |
| nucho | 0:77afd7560544 | 18 | geometry_msgs::PoseStamped start; |
| nucho | 0:77afd7560544 | 19 | geometry_msgs::PoseStamped goal; |
| nucho | 0:77afd7560544 | 20 | float tolerance; |
| nucho | 0:77afd7560544 | 21 | |
| nucho | 3:1cf99502f396 | 22 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 23 | { |
| nucho | 0:77afd7560544 | 24 | int offset = 0; |
| nucho | 0:77afd7560544 | 25 | offset += this->start.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 26 | offset += this->goal.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 27 | union { |
| nucho | 0:77afd7560544 | 28 | float real; |
| nucho | 3:1cf99502f396 | 29 | uint32_t base; |
| nucho | 0:77afd7560544 | 30 | } u_tolerance; |
| nucho | 0:77afd7560544 | 31 | u_tolerance.real = this->tolerance; |
| nucho | 0:77afd7560544 | 32 | *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 33 | *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 34 | *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 35 | *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 36 | offset += sizeof(this->tolerance); |
| nucho | 0:77afd7560544 | 37 | return offset; |
| nucho | 0:77afd7560544 | 38 | } |
| nucho | 0:77afd7560544 | 39 | |
| nucho | 0:77afd7560544 | 40 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 41 | { |
| nucho | 0:77afd7560544 | 42 | int offset = 0; |
| nucho | 0:77afd7560544 | 43 | offset += this->start.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 44 | offset += this->goal.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 45 | union { |
| nucho | 0:77afd7560544 | 46 | float real; |
| nucho | 3:1cf99502f396 | 47 | uint32_t base; |
| nucho | 0:77afd7560544 | 48 | } u_tolerance; |
| nucho | 0:77afd7560544 | 49 | u_tolerance.base = 0; |
| nucho | 3:1cf99502f396 | 50 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 3:1cf99502f396 | 51 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 52 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 53 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 54 | this->tolerance = u_tolerance.real; |
| nucho | 0:77afd7560544 | 55 | offset += sizeof(this->tolerance); |
| nucho | 0:77afd7560544 | 56 | return offset; |
| nucho | 0:77afd7560544 | 57 | } |
| nucho | 0:77afd7560544 | 58 | |
| nucho | 4:684f39d0c346 | 59 | const char * getType(){ return GETPLAN; }; |
| nucho | 4:684f39d0c346 | 60 | const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; }; |
| nucho | 0:77afd7560544 | 61 | |
| nucho | 0:77afd7560544 | 62 | }; |
| nucho | 0:77afd7560544 | 63 | |
| nucho | 0:77afd7560544 | 64 | class GetPlanResponse : public ros::Msg |
| nucho | 0:77afd7560544 | 65 | { |
| nucho | 0:77afd7560544 | 66 | public: |
| nucho | 0:77afd7560544 | 67 | nav_msgs::Path plan; |
| nucho | 0:77afd7560544 | 68 | |
| nucho | 3:1cf99502f396 | 69 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 70 | { |
| nucho | 0:77afd7560544 | 71 | int offset = 0; |
| nucho | 0:77afd7560544 | 72 | offset += this->plan.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 73 | return offset; |
| nucho | 0:77afd7560544 | 74 | } |
| nucho | 0:77afd7560544 | 75 | |
| nucho | 0:77afd7560544 | 76 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 77 | { |
| nucho | 0:77afd7560544 | 78 | int offset = 0; |
| nucho | 0:77afd7560544 | 79 | offset += this->plan.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 80 | return offset; |
| nucho | 0:77afd7560544 | 81 | } |
| nucho | 0:77afd7560544 | 82 | |
| nucho | 4:684f39d0c346 | 83 | const char * getType(){ return GETPLAN; }; |
| nucho | 4:684f39d0c346 | 84 | const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; }; |
| nucho | 3:1cf99502f396 | 85 | |
| nucho | 3:1cf99502f396 | 86 | }; |
| nucho | 0:77afd7560544 | 87 | |
| nucho | 3:1cf99502f396 | 88 | class GetPlan { |
| nucho | 3:1cf99502f396 | 89 | public: |
| nucho | 3:1cf99502f396 | 90 | typedef GetPlanRequest Request; |
| nucho | 3:1cf99502f396 | 91 | typedef GetPlanResponse Response; |
| nucho | 0:77afd7560544 | 92 | }; |
| nucho | 0:77afd7560544 | 93 | |
| nucho | 0:77afd7560544 | 94 | } |
| nucho | 0:77afd7560544 | 95 | #endif |