PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
nodelet/NodeletList.h@3:7bc03f1f0d03, 2019-05-14 (annotated)
- Committer:
- Luka_Danilovic
- Date:
- Tue May 14 12:18:55 2019 +0000
- Revision:
- 3:7bc03f1f0d03
- Parent:
- 0:9e9b7db60fd5
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_NodeletList_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_NodeletList_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 nodelet |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char NODELETLIST[] = "nodelet/NodeletList"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class NodeletListRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | |
garyservin | 0:9e9b7db60fd5 | 17 | NodeletListRequest() |
garyservin | 0:9e9b7db60fd5 | 18 | { |
garyservin | 0:9e9b7db60fd5 | 19 | } |
garyservin | 0:9e9b7db60fd5 | 20 | |
garyservin | 0:9e9b7db60fd5 | 21 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 22 | { |
garyservin | 0:9e9b7db60fd5 | 23 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 24 | return offset; |
garyservin | 0:9e9b7db60fd5 | 25 | } |
garyservin | 0:9e9b7db60fd5 | 26 | |
garyservin | 0:9e9b7db60fd5 | 27 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 28 | { |
garyservin | 0:9e9b7db60fd5 | 29 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 30 | return offset; |
garyservin | 0:9e9b7db60fd5 | 31 | } |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | const char * getType(){ return NODELETLIST; }; |
garyservin | 0:9e9b7db60fd5 | 34 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
garyservin | 0:9e9b7db60fd5 | 35 | |
garyservin | 0:9e9b7db60fd5 | 36 | }; |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | class NodeletListResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 39 | { |
garyservin | 0:9e9b7db60fd5 | 40 | public: |
garyservin | 0:9e9b7db60fd5 | 41 | uint32_t nodelets_length; |
garyservin | 0:9e9b7db60fd5 | 42 | typedef char* _nodelets_type; |
garyservin | 0:9e9b7db60fd5 | 43 | _nodelets_type st_nodelets; |
garyservin | 0:9e9b7db60fd5 | 44 | _nodelets_type * nodelets; |
garyservin | 0:9e9b7db60fd5 | 45 | |
garyservin | 0:9e9b7db60fd5 | 46 | NodeletListResponse(): |
garyservin | 0:9e9b7db60fd5 | 47 | nodelets_length(0), nodelets(NULL) |
garyservin | 0:9e9b7db60fd5 | 48 | { |
garyservin | 0:9e9b7db60fd5 | 49 | } |
garyservin | 0:9e9b7db60fd5 | 50 | |
garyservin | 0:9e9b7db60fd5 | 51 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 52 | { |
garyservin | 0:9e9b7db60fd5 | 53 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 0) = (this->nodelets_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 1) = (this->nodelets_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | *(outbuffer + offset + 2) = (this->nodelets_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 57 | *(outbuffer + offset + 3) = (this->nodelets_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 58 | offset += sizeof(this->nodelets_length); |
garyservin | 0:9e9b7db60fd5 | 59 | for( uint32_t i = 0; i < nodelets_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 60 | uint32_t length_nodeletsi = strlen(this->nodelets[i]); |
garyservin | 0:9e9b7db60fd5 | 61 | varToArr(outbuffer + offset, length_nodeletsi); |
garyservin | 0:9e9b7db60fd5 | 62 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 63 | memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi); |
garyservin | 0:9e9b7db60fd5 | 64 | offset += length_nodeletsi; |
garyservin | 0:9e9b7db60fd5 | 65 | } |
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 | uint32_t nodelets_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 73 | nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 74 | nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 75 | nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 76 | offset += sizeof(this->nodelets_length); |
garyservin | 0:9e9b7db60fd5 | 77 | if(nodelets_lengthT > nodelets_length) |
garyservin | 0:9e9b7db60fd5 | 78 | this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 79 | nodelets_length = nodelets_lengthT; |
garyservin | 0:9e9b7db60fd5 | 80 | for( uint32_t i = 0; i < nodelets_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 81 | uint32_t length_st_nodelets; |
garyservin | 0:9e9b7db60fd5 | 82 | arrToVar(length_st_nodelets, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 83 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 84 | for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){ |
garyservin | 0:9e9b7db60fd5 | 85 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 86 | } |
garyservin | 0:9e9b7db60fd5 | 87 | inbuffer[offset+length_st_nodelets-1]=0; |
garyservin | 0:9e9b7db60fd5 | 88 | this->st_nodelets = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 89 | offset += length_st_nodelets; |
garyservin | 0:9e9b7db60fd5 | 90 | memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 91 | } |
garyservin | 0:9e9b7db60fd5 | 92 | return offset; |
garyservin | 0:9e9b7db60fd5 | 93 | } |
garyservin | 0:9e9b7db60fd5 | 94 | |
garyservin | 0:9e9b7db60fd5 | 95 | const char * getType(){ return NODELETLIST; }; |
garyservin | 0:9e9b7db60fd5 | 96 | const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; }; |
garyservin | 0:9e9b7db60fd5 | 97 | |
garyservin | 0:9e9b7db60fd5 | 98 | }; |
garyservin | 0:9e9b7db60fd5 | 99 | |
garyservin | 0:9e9b7db60fd5 | 100 | class NodeletList { |
garyservin | 0:9e9b7db60fd5 | 101 | public: |
garyservin | 0:9e9b7db60fd5 | 102 | typedef NodeletListRequest Request; |
garyservin | 0:9e9b7db60fd5 | 103 | typedef NodeletListResponse Response; |
garyservin | 0:9e9b7db60fd5 | 104 | }; |
garyservin | 0:9e9b7db60fd5 | 105 | |
garyservin | 0:9e9b7db60fd5 | 106 | } |
garyservin | 0:9e9b7db60fd5 | 107 | #endif |