Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

nodelet/NodeletLoad.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_SERVICE_NodeletLoad_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_NodeletLoad_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7
akashvibhute 0:30537dec6e0b 8 namespace nodelet
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char NODELETLOAD[] = "nodelet/NodeletLoad";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class NodeletLoadRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* name;
akashvibhute 0:30537dec6e0b 17 const char* type;
akashvibhute 0:30537dec6e0b 18 uint8_t remap_source_args_length;
akashvibhute 0:30537dec6e0b 19 char* st_remap_source_args;
akashvibhute 0:30537dec6e0b 20 char* * remap_source_args;
akashvibhute 0:30537dec6e0b 21 uint8_t remap_target_args_length;
akashvibhute 0:30537dec6e0b 22 char* st_remap_target_args;
akashvibhute 0:30537dec6e0b 23 char* * remap_target_args;
akashvibhute 0:30537dec6e0b 24 uint8_t my_argv_length;
akashvibhute 0:30537dec6e0b 25 char* st_my_argv;
akashvibhute 0:30537dec6e0b 26 char* * my_argv;
akashvibhute 0:30537dec6e0b 27 const char* bond_id;
akashvibhute 0:30537dec6e0b 28
akashvibhute 0:30537dec6e0b 29 NodeletLoadRequest():
akashvibhute 0:30537dec6e0b 30 name(""),
akashvibhute 0:30537dec6e0b 31 type(""),
akashvibhute 0:30537dec6e0b 32 remap_source_args_length(0), remap_source_args(NULL),
akashvibhute 0:30537dec6e0b 33 remap_target_args_length(0), remap_target_args(NULL),
akashvibhute 0:30537dec6e0b 34 my_argv_length(0), my_argv(NULL),
akashvibhute 0:30537dec6e0b 35 bond_id("")
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38
akashvibhute 0:30537dec6e0b 39 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 40 {
akashvibhute 0:30537dec6e0b 41 int offset = 0;
akashvibhute 0:30537dec6e0b 42 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 44 offset += 4;
akashvibhute 0:30537dec6e0b 45 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 46 offset += length_name;
akashvibhute 0:30537dec6e0b 47 uint32_t length_type = strlen(this->type);
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 49 offset += 4;
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, this->type, length_type);
akashvibhute 0:30537dec6e0b 51 offset += length_type;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = remap_source_args_length;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 for( uint8_t i = 0; i < remap_source_args_length; i++){
akashvibhute 0:30537dec6e0b 57 uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]);
akashvibhute 0:30537dec6e0b 58 memcpy(outbuffer + offset, &length_remap_source_argsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 59 offset += 4;
akashvibhute 0:30537dec6e0b 60 memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi);
akashvibhute 0:30537dec6e0b 61 offset += length_remap_source_argsi;
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = remap_target_args_length;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 67 for( uint8_t i = 0; i < remap_target_args_length; i++){
akashvibhute 0:30537dec6e0b 68 uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]);
akashvibhute 0:30537dec6e0b 69 memcpy(outbuffer + offset, &length_remap_target_argsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 70 offset += 4;
akashvibhute 0:30537dec6e0b 71 memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi);
akashvibhute 0:30537dec6e0b 72 offset += length_remap_target_argsi;
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = my_argv_length;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 78 for( uint8_t i = 0; i < my_argv_length; i++){
akashvibhute 0:30537dec6e0b 79 uint32_t length_my_argvi = strlen(this->my_argv[i]);
akashvibhute 0:30537dec6e0b 80 memcpy(outbuffer + offset, &length_my_argvi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 81 offset += 4;
akashvibhute 0:30537dec6e0b 82 memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi);
akashvibhute 0:30537dec6e0b 83 offset += length_my_argvi;
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 uint32_t length_bond_id = strlen(this->bond_id);
akashvibhute 0:30537dec6e0b 86 memcpy(outbuffer + offset, &length_bond_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 87 offset += 4;
akashvibhute 0:30537dec6e0b 88 memcpy(outbuffer + offset, this->bond_id, length_bond_id);
akashvibhute 0:30537dec6e0b 89 offset += length_bond_id;
akashvibhute 0:30537dec6e0b 90 return offset;
akashvibhute 0:30537dec6e0b 91 }
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 94 {
akashvibhute 0:30537dec6e0b 95 int offset = 0;
akashvibhute 0:30537dec6e0b 96 uint32_t length_name;
akashvibhute 0:30537dec6e0b 97 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 98 offset += 4;
akashvibhute 0:30537dec6e0b 99 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 100 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 103 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 104 offset += length_name;
akashvibhute 0:30537dec6e0b 105 uint32_t length_type;
akashvibhute 0:30537dec6e0b 106 memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 107 offset += 4;
akashvibhute 0:30537dec6e0b 108 for(unsigned int k= offset; k< offset+length_type; ++k){
akashvibhute 0:30537dec6e0b 109 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 110 }
akashvibhute 0:30537dec6e0b 111 inbuffer[offset+length_type-1]=0;
akashvibhute 0:30537dec6e0b 112 this->type = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 113 offset += length_type;
akashvibhute 0:30537dec6e0b 114 uint8_t remap_source_args_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 115 if(remap_source_args_lengthT > remap_source_args_length)
akashvibhute 0:30537dec6e0b 116 this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 117 offset += 3;
akashvibhute 0:30537dec6e0b 118 remap_source_args_length = remap_source_args_lengthT;
akashvibhute 0:30537dec6e0b 119 for( uint8_t i = 0; i < remap_source_args_length; i++){
akashvibhute 0:30537dec6e0b 120 uint32_t length_st_remap_source_args;
akashvibhute 0:30537dec6e0b 121 memcpy(&length_st_remap_source_args, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 122 offset += 4;
akashvibhute 0:30537dec6e0b 123 for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){
akashvibhute 0:30537dec6e0b 124 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 125 }
akashvibhute 0:30537dec6e0b 126 inbuffer[offset+length_st_remap_source_args-1]=0;
akashvibhute 0:30537dec6e0b 127 this->st_remap_source_args = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 128 offset += length_st_remap_source_args;
akashvibhute 0:30537dec6e0b 129 memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*));
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131 uint8_t remap_target_args_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 132 if(remap_target_args_lengthT > remap_target_args_length)
akashvibhute 0:30537dec6e0b 133 this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 134 offset += 3;
akashvibhute 0:30537dec6e0b 135 remap_target_args_length = remap_target_args_lengthT;
akashvibhute 0:30537dec6e0b 136 for( uint8_t i = 0; i < remap_target_args_length; i++){
akashvibhute 0:30537dec6e0b 137 uint32_t length_st_remap_target_args;
akashvibhute 0:30537dec6e0b 138 memcpy(&length_st_remap_target_args, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 139 offset += 4;
akashvibhute 0:30537dec6e0b 140 for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){
akashvibhute 0:30537dec6e0b 141 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 142 }
akashvibhute 0:30537dec6e0b 143 inbuffer[offset+length_st_remap_target_args-1]=0;
akashvibhute 0:30537dec6e0b 144 this->st_remap_target_args = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 145 offset += length_st_remap_target_args;
akashvibhute 0:30537dec6e0b 146 memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*));
akashvibhute 0:30537dec6e0b 147 }
akashvibhute 0:30537dec6e0b 148 uint8_t my_argv_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 149 if(my_argv_lengthT > my_argv_length)
akashvibhute 0:30537dec6e0b 150 this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 151 offset += 3;
akashvibhute 0:30537dec6e0b 152 my_argv_length = my_argv_lengthT;
akashvibhute 0:30537dec6e0b 153 for( uint8_t i = 0; i < my_argv_length; i++){
akashvibhute 0:30537dec6e0b 154 uint32_t length_st_my_argv;
akashvibhute 0:30537dec6e0b 155 memcpy(&length_st_my_argv, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 156 offset += 4;
akashvibhute 0:30537dec6e0b 157 for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){
akashvibhute 0:30537dec6e0b 158 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 159 }
akashvibhute 0:30537dec6e0b 160 inbuffer[offset+length_st_my_argv-1]=0;
akashvibhute 0:30537dec6e0b 161 this->st_my_argv = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 162 offset += length_st_my_argv;
akashvibhute 0:30537dec6e0b 163 memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*));
akashvibhute 0:30537dec6e0b 164 }
akashvibhute 0:30537dec6e0b 165 uint32_t length_bond_id;
akashvibhute 0:30537dec6e0b 166 memcpy(&length_bond_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 167 offset += 4;
akashvibhute 0:30537dec6e0b 168 for(unsigned int k= offset; k< offset+length_bond_id; ++k){
akashvibhute 0:30537dec6e0b 169 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 170 }
akashvibhute 0:30537dec6e0b 171 inbuffer[offset+length_bond_id-1]=0;
akashvibhute 0:30537dec6e0b 172 this->bond_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 173 offset += length_bond_id;
akashvibhute 0:30537dec6e0b 174 return offset;
akashvibhute 0:30537dec6e0b 175 }
akashvibhute 0:30537dec6e0b 176
akashvibhute 0:30537dec6e0b 177 const char * getType(){ return NODELETLOAD; };
akashvibhute 0:30537dec6e0b 178 const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; };
akashvibhute 0:30537dec6e0b 179
akashvibhute 0:30537dec6e0b 180 };
akashvibhute 0:30537dec6e0b 181
akashvibhute 0:30537dec6e0b 182 class NodeletLoadResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 183 {
akashvibhute 0:30537dec6e0b 184 public:
akashvibhute 0:30537dec6e0b 185 bool success;
akashvibhute 0:30537dec6e0b 186
akashvibhute 0:30537dec6e0b 187 NodeletLoadResponse():
akashvibhute 0:30537dec6e0b 188 success(0)
akashvibhute 0:30537dec6e0b 189 {
akashvibhute 0:30537dec6e0b 190 }
akashvibhute 0:30537dec6e0b 191
akashvibhute 0:30537dec6e0b 192 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 193 {
akashvibhute 0:30537dec6e0b 194 int offset = 0;
akashvibhute 0:30537dec6e0b 195 union {
akashvibhute 0:30537dec6e0b 196 bool real;
akashvibhute 0:30537dec6e0b 197 uint8_t base;
akashvibhute 0:30537dec6e0b 198 } u_success;
akashvibhute 0:30537dec6e0b 199 u_success.real = this->success;
akashvibhute 0:30537dec6e0b 200 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 201 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 202 return offset;
akashvibhute 0:30537dec6e0b 203 }
akashvibhute 0:30537dec6e0b 204
akashvibhute 0:30537dec6e0b 205 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 206 {
akashvibhute 0:30537dec6e0b 207 int offset = 0;
akashvibhute 0:30537dec6e0b 208 union {
akashvibhute 0:30537dec6e0b 209 bool real;
akashvibhute 0:30537dec6e0b 210 uint8_t base;
akashvibhute 0:30537dec6e0b 211 } u_success;
akashvibhute 0:30537dec6e0b 212 u_success.base = 0;
akashvibhute 0:30537dec6e0b 213 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 214 this->success = u_success.real;
akashvibhute 0:30537dec6e0b 215 offset += sizeof(this->success);
akashvibhute 0:30537dec6e0b 216 return offset;
akashvibhute 0:30537dec6e0b 217 }
akashvibhute 0:30537dec6e0b 218
akashvibhute 0:30537dec6e0b 219 const char * getType(){ return NODELETLOAD; };
akashvibhute 0:30537dec6e0b 220 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
akashvibhute 0:30537dec6e0b 221
akashvibhute 0:30537dec6e0b 222 };
akashvibhute 0:30537dec6e0b 223
akashvibhute 0:30537dec6e0b 224 class NodeletLoad {
akashvibhute 0:30537dec6e0b 225 public:
akashvibhute 0:30537dec6e0b 226 typedef NodeletLoadRequest Request;
akashvibhute 0:30537dec6e0b 227 typedef NodeletLoadResponse Response;
akashvibhute 0:30537dec6e0b 228 };
akashvibhute 0:30537dec6e0b 229
akashvibhute 0:30537dec6e0b 230 }
akashvibhute 0:30537dec6e0b 231 #endif
akashvibhute 0:30537dec6e0b 232