Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/topic_tools/MuxSelect.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_MuxSelect_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_MuxSelect_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 MUXSELECT[] = "topic_tools/MuxSelect";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class MuxSelectRequest : 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 MuxSelectRequest():
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 MUXSELECT; };
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 MuxSelectResponse : public ros::Msg
scarter1 0:020db18a476d 56 {
scarter1 0:020db18a476d 57 public:
scarter1 0:020db18a476d 58 typedef const char* _prev_topic_type;
scarter1 0:020db18a476d 59 _prev_topic_type prev_topic;
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 MuxSelectResponse():
scarter1 0:020db18a476d 62 prev_topic("")
scarter1 0:020db18a476d 63 {
scarter1 0:020db18a476d 64 }
scarter1 0:020db18a476d 65
scarter1 0:020db18a476d 66 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 int offset = 0;
scarter1 0:020db18a476d 69 uint32_t length_prev_topic = strlen(this->prev_topic);
scarter1 0:020db18a476d 70 varToArr(outbuffer + offset, length_prev_topic);
scarter1 0:020db18a476d 71 offset += 4;
scarter1 0:020db18a476d 72 memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
scarter1 0:020db18a476d 73 offset += length_prev_topic;
scarter1 0:020db18a476d 74 return offset;
scarter1 0:020db18a476d 75 }
scarter1 0:020db18a476d 76
scarter1 0:020db18a476d 77 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 78 {
scarter1 0:020db18a476d 79 int offset = 0;
scarter1 0:020db18a476d 80 uint32_t length_prev_topic;
scarter1 0:020db18a476d 81 arrToVar(length_prev_topic, (inbuffer + offset));
scarter1 0:020db18a476d 82 offset += 4;
scarter1 0:020db18a476d 83 for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
scarter1 0:020db18a476d 84 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 85 }
scarter1 0:020db18a476d 86 inbuffer[offset+length_prev_topic-1]=0;
scarter1 0:020db18a476d 87 this->prev_topic = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 88 offset += length_prev_topic;
scarter1 0:020db18a476d 89 return offset;
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91
scarter1 0:020db18a476d 92 const char * getType(){ return MUXSELECT; };
scarter1 0:020db18a476d 93 const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
scarter1 0:020db18a476d 94
scarter1 0:020db18a476d 95 };
scarter1 0:020db18a476d 96
scarter1 0:020db18a476d 97 class MuxSelect {
scarter1 0:020db18a476d 98 public:
scarter1 0:020db18a476d 99 typedef MuxSelectRequest Request;
scarter1 0:020db18a476d 100 typedef MuxSelectResponse Response;
scarter1 0:020db18a476d 101 };
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 }
scarter1 0:020db18a476d 104 #endif