Fork of ROS Serial Library
Dependencies: BufferedSerial
topic_tools/DemuxAdd.h@2:e75264f7cf89, 2019-09-12 (annotated)
- Committer:
- jdawkins
- Date:
- Thu Sep 12 13:39:04 2019 +0000
- Revision:
- 2:e75264f7cf89
- Parent:
- 0:9e9b7db60fd5
EW456
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_DemuxAdd_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_DemuxAdd_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace topic_tools |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char DEMUXADD[] = "topic_tools/DemuxAdd"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class DemuxAddRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef const char* _topic_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _topic_type topic; |
garyservin | 0:9e9b7db60fd5 | 18 | |
garyservin | 0:9e9b7db60fd5 | 19 | DemuxAddRequest(): |
garyservin | 0:9e9b7db60fd5 | 20 | topic("") |
garyservin | 0:9e9b7db60fd5 | 21 | { |
garyservin | 0:9e9b7db60fd5 | 22 | } |
garyservin | 0:9e9b7db60fd5 | 23 | |
garyservin | 0:9e9b7db60fd5 | 24 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 25 | { |
garyservin | 0:9e9b7db60fd5 | 26 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 27 | uint32_t length_topic = strlen(this->topic); |
garyservin | 0:9e9b7db60fd5 | 28 | varToArr(outbuffer + offset, length_topic); |
garyservin | 0:9e9b7db60fd5 | 29 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 30 | memcpy(outbuffer + offset, this->topic, length_topic); |
garyservin | 0:9e9b7db60fd5 | 31 | offset += length_topic; |
garyservin | 0:9e9b7db60fd5 | 32 | return offset; |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | uint32_t length_topic; |
garyservin | 0:9e9b7db60fd5 | 39 | arrToVar(length_topic, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 40 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 41 | for(unsigned int k= offset; k< offset+length_topic; ++k){ |
garyservin | 0:9e9b7db60fd5 | 42 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 43 | } |
garyservin | 0:9e9b7db60fd5 | 44 | inbuffer[offset+length_topic-1]=0; |
garyservin | 0:9e9b7db60fd5 | 45 | this->topic = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 46 | offset += length_topic; |
garyservin | 0:9e9b7db60fd5 | 47 | return offset; |
garyservin | 0:9e9b7db60fd5 | 48 | } |
garyservin | 0:9e9b7db60fd5 | 49 | |
garyservin | 0:9e9b7db60fd5 | 50 | const char * getType(){ return DEMUXADD; }; |
garyservin | 0:9e9b7db60fd5 | 51 | const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; }; |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | }; |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | class DemuxAddResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 56 | { |
garyservin | 0:9e9b7db60fd5 | 57 | public: |
garyservin | 0:9e9b7db60fd5 | 58 | |
garyservin | 0:9e9b7db60fd5 | 59 | DemuxAddResponse() |
garyservin | 0:9e9b7db60fd5 | 60 | { |
garyservin | 0:9e9b7db60fd5 | 61 | } |
garyservin | 0:9e9b7db60fd5 | 62 | |
garyservin | 0:9e9b7db60fd5 | 63 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 64 | { |
garyservin | 0:9e9b7db60fd5 | 65 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 66 | return offset; |
garyservin | 0:9e9b7db60fd5 | 67 | } |
garyservin | 0:9e9b7db60fd5 | 68 | |
garyservin | 0:9e9b7db60fd5 | 69 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 70 | { |
garyservin | 0:9e9b7db60fd5 | 71 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 72 | return offset; |
garyservin | 0:9e9b7db60fd5 | 73 | } |
garyservin | 0:9e9b7db60fd5 | 74 | |
garyservin | 0:9e9b7db60fd5 | 75 | const char * getType(){ return DEMUXADD; }; |
garyservin | 0:9e9b7db60fd5 | 76 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
garyservin | 0:9e9b7db60fd5 | 77 | |
garyservin | 0:9e9b7db60fd5 | 78 | }; |
garyservin | 0:9e9b7db60fd5 | 79 | |
garyservin | 0:9e9b7db60fd5 | 80 | class DemuxAdd { |
garyservin | 0:9e9b7db60fd5 | 81 | public: |
garyservin | 0:9e9b7db60fd5 | 82 | typedef DemuxAddRequest Request; |
garyservin | 0:9e9b7db60fd5 | 83 | typedef DemuxAddResponse Response; |
garyservin | 0:9e9b7db60fd5 | 84 | }; |
garyservin | 0:9e9b7db60fd5 | 85 | |
garyservin | 0:9e9b7db60fd5 | 86 | } |
garyservin | 0:9e9b7db60fd5 | 87 | #endif |