Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/topic_tools/MuxAdd.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_MuxAdd_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_MuxAdd_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 topic_tools
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char MUXADD[] = "topic_tools/MuxAdd";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class MuxAddRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef const char* _topic_type;
scarter1 0:020db18a476d 17 _topic_type topic;
scarter1 0:020db18a476d 18
scarter1 0:020db18a476d 19 MuxAddRequest():
scarter1 0:020db18a476d 20 topic("")
scarter1 0:020db18a476d 21 {
scarter1 0:020db18a476d 22 }
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 25 {
scarter1 0:020db18a476d 26 int offset = 0;
scarter1 0:020db18a476d 27 uint32_t length_topic = strlen(this->topic);
scarter1 0:020db18a476d 28 varToArr(outbuffer + offset, length_topic);
scarter1 0:020db18a476d 29 offset += 4;
scarter1 0:020db18a476d 30 memcpy(outbuffer + offset, this->topic, length_topic);
scarter1 0:020db18a476d 31 offset += length_topic;
scarter1 0:020db18a476d 32 return offset;
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 int offset = 0;
scarter1 0:020db18a476d 38 uint32_t length_topic;
scarter1 0:020db18a476d 39 arrToVar(length_topic, (inbuffer + offset));
scarter1 0:020db18a476d 40 offset += 4;
scarter1 0:020db18a476d 41 for(unsigned int k= offset; k< offset+length_topic; ++k){
scarter1 0:020db18a476d 42 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 43 }
scarter1 0:020db18a476d 44 inbuffer[offset+length_topic-1]=0;
scarter1 0:020db18a476d 45 this->topic = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 46 offset += length_topic;
scarter1 0:020db18a476d 47 return offset;
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 const char * getType(){ return MUXADD; };
scarter1 0:020db18a476d 51 const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 };
scarter1 0:020db18a476d 54
scarter1 0:020db18a476d 55 class MuxAddResponse : public ros::Msg
scarter1 0:020db18a476d 56 {
scarter1 0:020db18a476d 57 public:
scarter1 0:020db18a476d 58
scarter1 0:020db18a476d 59 MuxAddResponse()
scarter1 0:020db18a476d 60 {
scarter1 0:020db18a476d 61 }
scarter1 0:020db18a476d 62
scarter1 0:020db18a476d 63 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 64 {
scarter1 0:020db18a476d 65 int offset = 0;
scarter1 0:020db18a476d 66 return offset;
scarter1 0:020db18a476d 67 }
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 70 {
scarter1 0:020db18a476d 71 int offset = 0;
scarter1 0:020db18a476d 72 return offset;
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 const char * getType(){ return MUXADD; };
scarter1 0:020db18a476d 76 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 77
scarter1 0:020db18a476d 78 };
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 class MuxAdd {
scarter1 0:020db18a476d 81 public:
scarter1 0:020db18a476d 82 typedef MuxAddRequest Request;
scarter1 0:020db18a476d 83 typedef MuxAddResponse Response;
scarter1 0:020db18a476d 84 };
scarter1 0:020db18a476d 85
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87 #endif