Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

moveit_msgs/GetStateValidity.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_SERVICE_GetStateValidity_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetStateValidity_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7 #include "moveit_msgs/ConstraintEvalResult.h"
akashvibhute 0:30537dec6e0b 8 #include "moveit_msgs/CostSource.h"
akashvibhute 0:30537dec6e0b 9 #include "moveit_msgs/ContactInformation.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/RobotState.h"
akashvibhute 0:30537dec6e0b 11 #include "moveit_msgs/Constraints.h"
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15
akashvibhute 0:30537dec6e0b 16 static const char GETSTATEVALIDITY[] = "moveit_msgs/GetStateValidity";
akashvibhute 0:30537dec6e0b 17
akashvibhute 0:30537dec6e0b 18 class GetStateValidityRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 19 {
akashvibhute 0:30537dec6e0b 20 public:
akashvibhute 0:30537dec6e0b 21 moveit_msgs::RobotState robot_state;
akashvibhute 0:30537dec6e0b 22 const char* group_name;
akashvibhute 0:30537dec6e0b 23 moveit_msgs::Constraints constraints;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 GetStateValidityRequest():
akashvibhute 0:30537dec6e0b 26 robot_state(),
akashvibhute 0:30537dec6e0b 27 group_name(""),
akashvibhute 0:30537dec6e0b 28 constraints()
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 }
akashvibhute 0:30537dec6e0b 31
akashvibhute 0:30537dec6e0b 32 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 33 {
akashvibhute 0:30537dec6e0b 34 int offset = 0;
akashvibhute 0:30537dec6e0b 35 offset += this->robot_state.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 36 uint32_t length_group_name = strlen(this->group_name);
akashvibhute 0:30537dec6e0b 37 memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 38 offset += 4;
akashvibhute 0:30537dec6e0b 39 memcpy(outbuffer + offset, this->group_name, length_group_name);
akashvibhute 0:30537dec6e0b 40 offset += length_group_name;
akashvibhute 0:30537dec6e0b 41 offset += this->constraints.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 42 return offset;
akashvibhute 0:30537dec6e0b 43 }
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 46 {
akashvibhute 0:30537dec6e0b 47 int offset = 0;
akashvibhute 0:30537dec6e0b 48 offset += this->robot_state.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 49 uint32_t length_group_name;
akashvibhute 0:30537dec6e0b 50 memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 51 offset += 4;
akashvibhute 0:30537dec6e0b 52 for(unsigned int k= offset; k< offset+length_group_name; ++k){
akashvibhute 0:30537dec6e0b 53 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55 inbuffer[offset+length_group_name-1]=0;
akashvibhute 0:30537dec6e0b 56 this->group_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 57 offset += length_group_name;
akashvibhute 0:30537dec6e0b 58 offset += this->constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 59 return offset;
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 const char * getType(){ return GETSTATEVALIDITY; };
akashvibhute 0:30537dec6e0b 63 const char * getMD5(){ return "b569c609cafad20ba7d0e46e70e7cab1"; };
akashvibhute 0:30537dec6e0b 64
akashvibhute 0:30537dec6e0b 65 };
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 class GetStateValidityResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 68 {
akashvibhute 0:30537dec6e0b 69 public:
akashvibhute 0:30537dec6e0b 70 bool valid;
akashvibhute 0:30537dec6e0b 71 uint8_t contacts_length;
akashvibhute 0:30537dec6e0b 72 moveit_msgs::ContactInformation st_contacts;
akashvibhute 0:30537dec6e0b 73 moveit_msgs::ContactInformation * contacts;
akashvibhute 0:30537dec6e0b 74 uint8_t cost_sources_length;
akashvibhute 0:30537dec6e0b 75 moveit_msgs::CostSource st_cost_sources;
akashvibhute 0:30537dec6e0b 76 moveit_msgs::CostSource * cost_sources;
akashvibhute 0:30537dec6e0b 77 uint8_t constraint_result_length;
akashvibhute 0:30537dec6e0b 78 moveit_msgs::ConstraintEvalResult st_constraint_result;
akashvibhute 0:30537dec6e0b 79 moveit_msgs::ConstraintEvalResult * constraint_result;
akashvibhute 0:30537dec6e0b 80
akashvibhute 0:30537dec6e0b 81 GetStateValidityResponse():
akashvibhute 0:30537dec6e0b 82 valid(0),
akashvibhute 0:30537dec6e0b 83 contacts_length(0), contacts(NULL),
akashvibhute 0:30537dec6e0b 84 cost_sources_length(0), cost_sources(NULL),
akashvibhute 0:30537dec6e0b 85 constraint_result_length(0), constraint_result(NULL)
akashvibhute 0:30537dec6e0b 86 {
akashvibhute 0:30537dec6e0b 87 }
akashvibhute 0:30537dec6e0b 88
akashvibhute 0:30537dec6e0b 89 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 90 {
akashvibhute 0:30537dec6e0b 91 int offset = 0;
akashvibhute 0:30537dec6e0b 92 union {
akashvibhute 0:30537dec6e0b 93 bool real;
akashvibhute 0:30537dec6e0b 94 uint8_t base;
akashvibhute 0:30537dec6e0b 95 } u_valid;
akashvibhute 0:30537dec6e0b 96 u_valid.real = this->valid;
akashvibhute 0:30537dec6e0b 97 *(outbuffer + offset + 0) = (u_valid.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 98 offset += sizeof(this->valid);
akashvibhute 0:30537dec6e0b 99 *(outbuffer + offset++) = contacts_length;
akashvibhute 0:30537dec6e0b 100 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 101 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 102 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 103 for( uint8_t i = 0; i < contacts_length; i++){
akashvibhute 0:30537dec6e0b 104 offset += this->contacts[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 *(outbuffer + offset++) = cost_sources_length;
akashvibhute 0:30537dec6e0b 107 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 109 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 110 for( uint8_t i = 0; i < cost_sources_length; i++){
akashvibhute 0:30537dec6e0b 111 offset += this->cost_sources[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 112 }
akashvibhute 0:30537dec6e0b 113 *(outbuffer + offset++) = constraint_result_length;
akashvibhute 0:30537dec6e0b 114 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 115 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 116 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 117 for( uint8_t i = 0; i < constraint_result_length; i++){
akashvibhute 0:30537dec6e0b 118 offset += this->constraint_result[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 119 }
akashvibhute 0:30537dec6e0b 120 return offset;
akashvibhute 0:30537dec6e0b 121 }
akashvibhute 0:30537dec6e0b 122
akashvibhute 0:30537dec6e0b 123 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 124 {
akashvibhute 0:30537dec6e0b 125 int offset = 0;
akashvibhute 0:30537dec6e0b 126 union {
akashvibhute 0:30537dec6e0b 127 bool real;
akashvibhute 0:30537dec6e0b 128 uint8_t base;
akashvibhute 0:30537dec6e0b 129 } u_valid;
akashvibhute 0:30537dec6e0b 130 u_valid.base = 0;
akashvibhute 0:30537dec6e0b 131 u_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 132 this->valid = u_valid.real;
akashvibhute 0:30537dec6e0b 133 offset += sizeof(this->valid);
akashvibhute 0:30537dec6e0b 134 uint8_t contacts_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 135 if(contacts_lengthT > contacts_length)
akashvibhute 0:30537dec6e0b 136 this->contacts = (moveit_msgs::ContactInformation*)realloc(this->contacts, contacts_lengthT * sizeof(moveit_msgs::ContactInformation));
akashvibhute 0:30537dec6e0b 137 offset += 3;
akashvibhute 0:30537dec6e0b 138 contacts_length = contacts_lengthT;
akashvibhute 0:30537dec6e0b 139 for( uint8_t i = 0; i < contacts_length; i++){
akashvibhute 0:30537dec6e0b 140 offset += this->st_contacts.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 141 memcpy( &(this->contacts[i]), &(this->st_contacts), sizeof(moveit_msgs::ContactInformation));
akashvibhute 0:30537dec6e0b 142 }
akashvibhute 0:30537dec6e0b 143 uint8_t cost_sources_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 144 if(cost_sources_lengthT > cost_sources_length)
akashvibhute 0:30537dec6e0b 145 this->cost_sources = (moveit_msgs::CostSource*)realloc(this->cost_sources, cost_sources_lengthT * sizeof(moveit_msgs::CostSource));
akashvibhute 0:30537dec6e0b 146 offset += 3;
akashvibhute 0:30537dec6e0b 147 cost_sources_length = cost_sources_lengthT;
akashvibhute 0:30537dec6e0b 148 for( uint8_t i = 0; i < cost_sources_length; i++){
akashvibhute 0:30537dec6e0b 149 offset += this->st_cost_sources.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 150 memcpy( &(this->cost_sources[i]), &(this->st_cost_sources), sizeof(moveit_msgs::CostSource));
akashvibhute 0:30537dec6e0b 151 }
akashvibhute 0:30537dec6e0b 152 uint8_t constraint_result_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 153 if(constraint_result_lengthT > constraint_result_length)
akashvibhute 0:30537dec6e0b 154 this->constraint_result = (moveit_msgs::ConstraintEvalResult*)realloc(this->constraint_result, constraint_result_lengthT * sizeof(moveit_msgs::ConstraintEvalResult));
akashvibhute 0:30537dec6e0b 155 offset += 3;
akashvibhute 0:30537dec6e0b 156 constraint_result_length = constraint_result_lengthT;
akashvibhute 0:30537dec6e0b 157 for( uint8_t i = 0; i < constraint_result_length; i++){
akashvibhute 0:30537dec6e0b 158 offset += this->st_constraint_result.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 159 memcpy( &(this->constraint_result[i]), &(this->st_constraint_result), sizeof(moveit_msgs::ConstraintEvalResult));
akashvibhute 0:30537dec6e0b 160 }
akashvibhute 0:30537dec6e0b 161 return offset;
akashvibhute 0:30537dec6e0b 162 }
akashvibhute 0:30537dec6e0b 163
akashvibhute 0:30537dec6e0b 164 const char * getType(){ return GETSTATEVALIDITY; };
akashvibhute 0:30537dec6e0b 165 const char * getMD5(){ return "e326fb22b7448f29c0e726d9270d9929"; };
akashvibhute 0:30537dec6e0b 166
akashvibhute 0:30537dec6e0b 167 };
akashvibhute 0:30537dec6e0b 168
akashvibhute 0:30537dec6e0b 169 class GetStateValidity {
akashvibhute 0:30537dec6e0b 170 public:
akashvibhute 0:30537dec6e0b 171 typedef GetStateValidityRequest Request;
akashvibhute 0:30537dec6e0b 172 typedef GetStateValidityResponse Response;
akashvibhute 0:30537dec6e0b 173 };
akashvibhute 0:30537dec6e0b 174
akashvibhute 0:30537dec6e0b 175 }
akashvibhute 0:30537dec6e0b 176 #endif
akashvibhute 0:30537dec6e0b 177