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!

tf/FrameGraph.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_FrameGraph_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_FrameGraph_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 tf
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class FrameGraphRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 FrameGraphRequest()
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 }
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 int offset = 0;
akashvibhute 0:30537dec6e0b 24 return offset;
akashvibhute 0:30537dec6e0b 25 }
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 int offset = 0;
akashvibhute 0:30537dec6e0b 30 return offset;
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 const char * getType(){ return FRAMEGRAPH; };
akashvibhute 0:30537dec6e0b 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
akashvibhute 0:30537dec6e0b 35
akashvibhute 0:30537dec6e0b 36 };
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 class FrameGraphResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 public:
akashvibhute 0:30537dec6e0b 41 const char* dot_graph;
akashvibhute 0:30537dec6e0b 42
akashvibhute 0:30537dec6e0b 43 FrameGraphResponse():
akashvibhute 0:30537dec6e0b 44 dot_graph("")
akashvibhute 0:30537dec6e0b 45 {
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47
akashvibhute 0:30537dec6e0b 48 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 49 {
akashvibhute 0:30537dec6e0b 50 int offset = 0;
akashvibhute 0:30537dec6e0b 51 uint32_t length_dot_graph = strlen(this->dot_graph);
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 53 offset += 4;
akashvibhute 0:30537dec6e0b 54 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
akashvibhute 0:30537dec6e0b 55 offset += length_dot_graph;
akashvibhute 0:30537dec6e0b 56 return offset;
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 60 {
akashvibhute 0:30537dec6e0b 61 int offset = 0;
akashvibhute 0:30537dec6e0b 62 uint32_t length_dot_graph;
akashvibhute 0:30537dec6e0b 63 memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 64 offset += 4;
akashvibhute 0:30537dec6e0b 65 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
akashvibhute 0:30537dec6e0b 66 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 inbuffer[offset+length_dot_graph-1]=0;
akashvibhute 0:30537dec6e0b 69 this->dot_graph = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 70 offset += length_dot_graph;
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 const char * getType(){ return FRAMEGRAPH; };
akashvibhute 0:30537dec6e0b 75 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 };
akashvibhute 0:30537dec6e0b 78
akashvibhute 0:30537dec6e0b 79 class FrameGraph {
akashvibhute 0:30537dec6e0b 80 public:
akashvibhute 0:30537dec6e0b 81 typedef FrameGraphRequest Request;
akashvibhute 0:30537dec6e0b 82 typedef FrameGraphResponse Response;
akashvibhute 0:30537dec6e0b 83 };
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 #endif
akashvibhute 0:30537dec6e0b 87