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!

topic_tools/MuxAdd.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_MuxAdd_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_MuxAdd_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 topic_tools
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char MUXADD[] = "topic_tools/MuxAdd";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class MuxAddRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* topic;
akashvibhute 0:30537dec6e0b 17
akashvibhute 0:30537dec6e0b 18 MuxAddRequest():
akashvibhute 0:30537dec6e0b 19 topic("")
akashvibhute 0:30537dec6e0b 20 {
akashvibhute 0:30537dec6e0b 21 }
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 24 {
akashvibhute 0:30537dec6e0b 25 int offset = 0;
akashvibhute 0:30537dec6e0b 26 uint32_t length_topic = strlen(this->topic);
akashvibhute 0:30537dec6e0b 27 memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 28 offset += 4;
akashvibhute 0:30537dec6e0b 29 memcpy(outbuffer + offset, this->topic, length_topic);
akashvibhute 0:30537dec6e0b 30 offset += length_topic;
akashvibhute 0:30537dec6e0b 31 return offset;
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 uint32_t length_topic;
akashvibhute 0:30537dec6e0b 38 memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 for(unsigned int k= offset; k< offset+length_topic; ++k){
akashvibhute 0:30537dec6e0b 41 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 inbuffer[offset+length_topic-1]=0;
akashvibhute 0:30537dec6e0b 44 this->topic = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 45 offset += length_topic;
akashvibhute 0:30537dec6e0b 46 return offset;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 const char * getType(){ return MUXADD; };
akashvibhute 0:30537dec6e0b 50 const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 };
akashvibhute 0:30537dec6e0b 53
akashvibhute 0:30537dec6e0b 54 class MuxAddResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 public:
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 MuxAddResponse()
akashvibhute 0:30537dec6e0b 59 {
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 63 {
akashvibhute 0:30537dec6e0b 64 int offset = 0;
akashvibhute 0:30537dec6e0b 65 return offset;
akashvibhute 0:30537dec6e0b 66 }
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 69 {
akashvibhute 0:30537dec6e0b 70 int offset = 0;
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 const char * getType(){ return MUXADD; };
akashvibhute 0:30537dec6e0b 75 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 };
akashvibhute 0:30537dec6e0b 78
akashvibhute 0:30537dec6e0b 79 class MuxAdd {
akashvibhute 0:30537dec6e0b 80 public:
akashvibhute 0:30537dec6e0b 81 typedef MuxAddRequest Request;
akashvibhute 0:30537dec6e0b 82 typedef MuxAddResponse Response;
akashvibhute 0:30537dec6e0b 83 };
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 #endif
akashvibhute 0:30537dec6e0b 87