Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

rosserial_mbed/Test.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_Test_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_Test_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 rosserial_mbed
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char TEST[] = "rosserial_mbed/Test";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TestRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _input_type;
garyservin 0:9e9b7db60fd5 17 _input_type input;
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 TestRequest():
garyservin 0:9e9b7db60fd5 20 input("")
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_input = strlen(this->input);
garyservin 0:9e9b7db60fd5 28 varToArr(outbuffer + offset, length_input);
garyservin 0:9e9b7db60fd5 29 offset += 4;
garyservin 0:9e9b7db60fd5 30 memcpy(outbuffer + offset, this->input, length_input);
garyservin 0:9e9b7db60fd5 31 offset += length_input;
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_input;
garyservin 0:9e9b7db60fd5 39 arrToVar(length_input, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 for(unsigned int k= offset; k< offset+length_input; ++k){
garyservin 0:9e9b7db60fd5 42 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44 inbuffer[offset+length_input-1]=0;
garyservin 0:9e9b7db60fd5 45 this->input = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 46 offset += length_input;
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 const char * getType(){ return TEST; };
garyservin 0:9e9b7db60fd5 51 const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 };
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 class TestResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58 typedef const char* _output_type;
garyservin 0:9e9b7db60fd5 59 _output_type output;
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 TestResponse():
garyservin 0:9e9b7db60fd5 62 output("")
garyservin 0:9e9b7db60fd5 63 {
garyservin 0:9e9b7db60fd5 64 }
garyservin 0:9e9b7db60fd5 65
garyservin 0:9e9b7db60fd5 66 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 67 {
garyservin 0:9e9b7db60fd5 68 int offset = 0;
garyservin 0:9e9b7db60fd5 69 uint32_t length_output = strlen(this->output);
garyservin 0:9e9b7db60fd5 70 varToArr(outbuffer + offset, length_output);
garyservin 0:9e9b7db60fd5 71 offset += 4;
garyservin 0:9e9b7db60fd5 72 memcpy(outbuffer + offset, this->output, length_output);
garyservin 0:9e9b7db60fd5 73 offset += length_output;
garyservin 0:9e9b7db60fd5 74 return offset;
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76
garyservin 0:9e9b7db60fd5 77 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 78 {
garyservin 0:9e9b7db60fd5 79 int offset = 0;
garyservin 0:9e9b7db60fd5 80 uint32_t length_output;
garyservin 0:9e9b7db60fd5 81 arrToVar(length_output, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 82 offset += 4;
garyservin 0:9e9b7db60fd5 83 for(unsigned int k= offset; k< offset+length_output; ++k){
garyservin 0:9e9b7db60fd5 84 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 inbuffer[offset+length_output-1]=0;
garyservin 0:9e9b7db60fd5 87 this->output = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 88 offset += length_output;
garyservin 0:9e9b7db60fd5 89 return offset;
garyservin 0:9e9b7db60fd5 90 }
garyservin 0:9e9b7db60fd5 91
garyservin 0:9e9b7db60fd5 92 const char * getType(){ return TEST; };
garyservin 0:9e9b7db60fd5 93 const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 };
garyservin 0:9e9b7db60fd5 96
garyservin 0:9e9b7db60fd5 97 class Test {
garyservin 0:9e9b7db60fd5 98 public:
garyservin 0:9e9b7db60fd5 99 typedef TestRequest Request;
garyservin 0:9e9b7db60fd5 100 typedef TestResponse Response;
garyservin 0:9e9b7db60fd5 101 };
garyservin 0:9e9b7db60fd5 102
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104 #endif