Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

nodelet/NodeletList.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_NodeletList_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_NodeletList_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace nodelet
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char NODELETLIST[] = "nodelet/NodeletList";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class NodeletListRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16
garyservin 0:fd24f7ca9688 17 NodeletListRequest()
garyservin 0:fd24f7ca9688 18 {
garyservin 0:fd24f7ca9688 19 }
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 int offset = 0;
garyservin 0:fd24f7ca9688 24 return offset;
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 return offset;
garyservin 0:fd24f7ca9688 31 }
garyservin 0:fd24f7ca9688 32
garyservin 0:fd24f7ca9688 33 const char * getType(){ return NODELETLIST; };
garyservin 0:fd24f7ca9688 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 35
garyservin 0:fd24f7ca9688 36 };
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 class NodeletListResponse : public ros::Msg
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 public:
garyservin 0:fd24f7ca9688 41 uint8_t nodelets_length;
garyservin 0:fd24f7ca9688 42 char* st_nodelets;
garyservin 0:fd24f7ca9688 43 char* * nodelets;
garyservin 0:fd24f7ca9688 44
garyservin 0:fd24f7ca9688 45 NodeletListResponse():
garyservin 0:fd24f7ca9688 46 nodelets_length(0), nodelets(NULL)
garyservin 0:fd24f7ca9688 47 {
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 51 {
garyservin 0:fd24f7ca9688 52 int offset = 0;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset++) = nodelets_length;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 57 for( uint8_t i = 0; i < nodelets_length; i++){
garyservin 0:fd24f7ca9688 58 uint32_t length_nodeletsi = strlen(this->nodelets[i]);
garyservin 0:fd24f7ca9688 59 memcpy(outbuffer + offset, &length_nodeletsi, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 60 offset += 4;
garyservin 0:fd24f7ca9688 61 memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi);
garyservin 0:fd24f7ca9688 62 offset += length_nodeletsi;
garyservin 0:fd24f7ca9688 63 }
garyservin 0:fd24f7ca9688 64 return offset;
garyservin 0:fd24f7ca9688 65 }
garyservin 0:fd24f7ca9688 66
garyservin 0:fd24f7ca9688 67 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 68 {
garyservin 0:fd24f7ca9688 69 int offset = 0;
garyservin 0:fd24f7ca9688 70 uint8_t nodelets_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 71 if(nodelets_lengthT > nodelets_length)
garyservin 0:fd24f7ca9688 72 this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 73 offset += 3;
garyservin 0:fd24f7ca9688 74 nodelets_length = nodelets_lengthT;
garyservin 0:fd24f7ca9688 75 for( uint8_t i = 0; i < nodelets_length; i++){
garyservin 0:fd24f7ca9688 76 uint32_t length_st_nodelets;
garyservin 0:fd24f7ca9688 77 memcpy(&length_st_nodelets, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 78 offset += 4;
garyservin 0:fd24f7ca9688 79 for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){
garyservin 0:fd24f7ca9688 80 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 81 }
garyservin 0:fd24f7ca9688 82 inbuffer[offset+length_st_nodelets-1]=0;
garyservin 0:fd24f7ca9688 83 this->st_nodelets = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 84 offset += length_st_nodelets;
garyservin 0:fd24f7ca9688 85 memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*));
garyservin 0:fd24f7ca9688 86 }
garyservin 0:fd24f7ca9688 87 return offset;
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 const char * getType(){ return NODELETLIST; };
garyservin 0:fd24f7ca9688 91 const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; };
garyservin 0:fd24f7ca9688 92
garyservin 0:fd24f7ca9688 93 };
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 class NodeletList {
garyservin 0:fd24f7ca9688 96 public:
garyservin 0:fd24f7ca9688 97 typedef NodeletListRequest Request;
garyservin 0:fd24f7ca9688 98 typedef NodeletListResponse Response;
garyservin 0:fd24f7ca9688 99 };
garyservin 0:fd24f7ca9688 100
garyservin 0:fd24f7ca9688 101 }
garyservin 0:fd24f7ca9688 102 #endif