Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/tf/FrameGraph.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_FrameGraph_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_FrameGraph_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7
scarter1 0:020db18a476d 8 namespace tf
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class FrameGraphRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16
scarter1 0:020db18a476d 17 FrameGraphRequest()
scarter1 0:020db18a476d 18 {
scarter1 0:020db18a476d 19 }
scarter1 0:020db18a476d 20
scarter1 0:020db18a476d 21 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 22 {
scarter1 0:020db18a476d 23 int offset = 0;
scarter1 0:020db18a476d 24 return offset;
scarter1 0:020db18a476d 25 }
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 28 {
scarter1 0:020db18a476d 29 int offset = 0;
scarter1 0:020db18a476d 30 return offset;
scarter1 0:020db18a476d 31 }
scarter1 0:020db18a476d 32
scarter1 0:020db18a476d 33 const char * getType(){ return FRAMEGRAPH; };
scarter1 0:020db18a476d 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 35
scarter1 0:020db18a476d 36 };
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 class FrameGraphResponse : public ros::Msg
scarter1 0:020db18a476d 39 {
scarter1 0:020db18a476d 40 public:
scarter1 0:020db18a476d 41 typedef const char* _dot_graph_type;
scarter1 0:020db18a476d 42 _dot_graph_type dot_graph;
scarter1 0:020db18a476d 43
scarter1 0:020db18a476d 44 FrameGraphResponse():
scarter1 0:020db18a476d 45 dot_graph("")
scarter1 0:020db18a476d 46 {
scarter1 0:020db18a476d 47 }
scarter1 0:020db18a476d 48
scarter1 0:020db18a476d 49 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 50 {
scarter1 0:020db18a476d 51 int offset = 0;
scarter1 0:020db18a476d 52 uint32_t length_dot_graph = strlen(this->dot_graph);
scarter1 0:020db18a476d 53 varToArr(outbuffer + offset, length_dot_graph);
scarter1 0:020db18a476d 54 offset += 4;
scarter1 0:020db18a476d 55 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
scarter1 0:020db18a476d 56 offset += length_dot_graph;
scarter1 0:020db18a476d 57 return offset;
scarter1 0:020db18a476d 58 }
scarter1 0:020db18a476d 59
scarter1 0:020db18a476d 60 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 61 {
scarter1 0:020db18a476d 62 int offset = 0;
scarter1 0:020db18a476d 63 uint32_t length_dot_graph;
scarter1 0:020db18a476d 64 arrToVar(length_dot_graph, (inbuffer + offset));
scarter1 0:020db18a476d 65 offset += 4;
scarter1 0:020db18a476d 66 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
scarter1 0:020db18a476d 67 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69 inbuffer[offset+length_dot_graph-1]=0;
scarter1 0:020db18a476d 70 this->dot_graph = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 71 offset += length_dot_graph;
scarter1 0:020db18a476d 72 return offset;
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 const char * getType(){ return FRAMEGRAPH; };
scarter1 0:020db18a476d 76 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
scarter1 0:020db18a476d 77
scarter1 0:020db18a476d 78 };
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 class FrameGraph {
scarter1 0:020db18a476d 81 public:
scarter1 0:020db18a476d 82 typedef FrameGraphRequest Request;
scarter1 0:020db18a476d 83 typedef FrameGraphResponse Response;
scarter1 0:020db18a476d 84 };
scarter1 0:020db18a476d 85
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87 #endif