Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

topic_tools/MuxSelect.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_MuxSelect_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_MuxSelect_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 MUXSELECT[] = "topic_tools/MuxSelect";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class MuxSelectRequest : 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 MuxSelectRequest():
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 MUXSELECT; };
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 MuxSelectResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58 typedef const char* _prev_topic_type;
garyservin 0:9e9b7db60fd5 59 _prev_topic_type prev_topic;
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 MuxSelectResponse():
garyservin 0:9e9b7db60fd5 62 prev_topic("")
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_prev_topic = strlen(this->prev_topic);
garyservin 0:9e9b7db60fd5 70 varToArr(outbuffer + offset, length_prev_topic);
garyservin 0:9e9b7db60fd5 71 offset += 4;
garyservin 0:9e9b7db60fd5 72 memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
garyservin 0:9e9b7db60fd5 73 offset += length_prev_topic;
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_prev_topic;
garyservin 0:9e9b7db60fd5 81 arrToVar(length_prev_topic, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 82 offset += 4;
garyservin 0:9e9b7db60fd5 83 for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
garyservin 0:9e9b7db60fd5 84 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 inbuffer[offset+length_prev_topic-1]=0;
garyservin 0:9e9b7db60fd5 87 this->prev_topic = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 88 offset += length_prev_topic;
garyservin 0:9e9b7db60fd5 89 return offset;
garyservin 0:9e9b7db60fd5 90 }
garyservin 0:9e9b7db60fd5 91
garyservin 0:9e9b7db60fd5 92 const char * getType(){ return MUXSELECT; };
garyservin 0:9e9b7db60fd5 93 const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 };
garyservin 0:9e9b7db60fd5 96
garyservin 0:9e9b7db60fd5 97 class MuxSelect {
garyservin 0:9e9b7db60fd5 98 public:
garyservin 0:9e9b7db60fd5 99 typedef MuxSelectRequest Request;
garyservin 0:9e9b7db60fd5 100 typedef MuxSelectResponse Response;
garyservin 0:9e9b7db60fd5 101 };
garyservin 0:9e9b7db60fd5 102
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104 #endif