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@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_SERVICE_GetPlan_h |
| nucho | 0:77afd7560544 | 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 | 0:77afd7560544 | 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 | 0:77afd7560544 | 22 | virtual int serialize(unsigned char *outbuffer) |
| 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 | 0:77afd7560544 | 29 | unsigned long 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 | 0:77afd7560544 | 47 | unsigned long base; |
| nucho | 0:77afd7560544 | 48 | } u_tolerance; |
| nucho | 0:77afd7560544 | 49 | u_tolerance.base = 0; |
| nucho | 0:77afd7560544 | 50 | u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 51 | u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 52 | u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 53 | u_tolerance.base |= ((typeof(u_tolerance.base)) (*(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 | 0:77afd7560544 | 59 | const char * getType(){ return GETPLAN; }; |
| nucho | 0:77afd7560544 | 60 | |
| nucho | 0:77afd7560544 | 61 | }; |
| nucho | 0:77afd7560544 | 62 | |
| nucho | 0:77afd7560544 | 63 | class GetPlanResponse : public ros::Msg |
| nucho | 0:77afd7560544 | 64 | { |
| nucho | 0:77afd7560544 | 65 | public: |
| nucho | 0:77afd7560544 | 66 | nav_msgs::Path plan; |
| nucho | 0:77afd7560544 | 67 | |
| nucho | 0:77afd7560544 | 68 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 69 | { |
| nucho | 0:77afd7560544 | 70 | int offset = 0; |
| nucho | 0:77afd7560544 | 71 | offset += this->plan.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 72 | return offset; |
| nucho | 0:77afd7560544 | 73 | } |
| nucho | 0:77afd7560544 | 74 | |
| nucho | 0:77afd7560544 | 75 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 76 | { |
| nucho | 0:77afd7560544 | 77 | int offset = 0; |
| nucho | 0:77afd7560544 | 78 | offset += this->plan.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 79 | return offset; |
| nucho | 0:77afd7560544 | 80 | } |
| nucho | 0:77afd7560544 | 81 | |
| nucho | 0:77afd7560544 | 82 | virtual const char * getType(){ return GETPLAN; }; |
| nucho | 0:77afd7560544 | 83 | |
| nucho | 0:77afd7560544 | 84 | }; |
| nucho | 0:77afd7560544 | 85 | |
| nucho | 0:77afd7560544 | 86 | } |
| nucho | 0:77afd7560544 | 87 | #endif |