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/MuxList.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_MuxList_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_MuxList_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 MUXLIST[] = "topic_tools/MuxList";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class MuxListRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 MuxListRequest()
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 MUXLIST; };
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 MuxListResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 public:
akashvibhute 0:30537dec6e0b 41 uint8_t topics_length;
akashvibhute 0:30537dec6e0b 42 char* st_topics;
akashvibhute 0:30537dec6e0b 43 char* * topics;
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 MuxListResponse():
akashvibhute 0:30537dec6e0b 46 topics_length(0), topics(NULL)
akashvibhute 0:30537dec6e0b 47 {
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 51 {
akashvibhute 0:30537dec6e0b 52 int offset = 0;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = topics_length;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 for( uint8_t i = 0; i < topics_length; i++){
akashvibhute 0:30537dec6e0b 58 uint32_t length_topicsi = strlen(this->topics[i]);
akashvibhute 0:30537dec6e0b 59 memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 60 offset += 4;
akashvibhute 0:30537dec6e0b 61 memcpy(outbuffer + offset, this->topics[i], length_topicsi);
akashvibhute 0:30537dec6e0b 62 offset += length_topicsi;
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 return offset;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 68 {
akashvibhute 0:30537dec6e0b 69 int offset = 0;
akashvibhute 0:30537dec6e0b 70 uint8_t topics_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 71 if(topics_lengthT > topics_length)
akashvibhute 0:30537dec6e0b 72 this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 73 offset += 3;
akashvibhute 0:30537dec6e0b 74 topics_length = topics_lengthT;
akashvibhute 0:30537dec6e0b 75 for( uint8_t i = 0; i < topics_length; i++){
akashvibhute 0:30537dec6e0b 76 uint32_t length_st_topics;
akashvibhute 0:30537dec6e0b 77 memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 78 offset += 4;
akashvibhute 0:30537dec6e0b 79 for(unsigned int k= offset; k< offset+length_st_topics; ++k){
akashvibhute 0:30537dec6e0b 80 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82 inbuffer[offset+length_st_topics-1]=0;
akashvibhute 0:30537dec6e0b 83 this->st_topics = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 84 offset += length_st_topics;
akashvibhute 0:30537dec6e0b 85 memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
akashvibhute 0:30537dec6e0b 86 }
akashvibhute 0:30537dec6e0b 87 return offset;
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89
akashvibhute 0:30537dec6e0b 90 const char * getType(){ return MUXLIST; };
akashvibhute 0:30537dec6e0b 91 const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 };
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 class MuxList {
akashvibhute 0:30537dec6e0b 96 public:
akashvibhute 0:30537dec6e0b 97 typedef MuxListRequest Request;
akashvibhute 0:30537dec6e0b 98 typedef MuxListResponse Response;
akashvibhute 0:30537dec6e0b 99 };
akashvibhute 0:30537dec6e0b 100
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 #endif
akashvibhute 0:30537dec6e0b 103