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/MuxSelect.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_MuxSelect_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_MuxSelect_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 MUXSELECT[] = "topic_tools/MuxSelect";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class MuxSelectRequest : 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 MuxSelectRequest():
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 MUXSELECT; };
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 MuxSelectResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 55 {
akashvibhute 0:30537dec6e0b 56 public:
akashvibhute 0:30537dec6e0b 57 const char* prev_topic;
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 MuxSelectResponse():
akashvibhute 0:30537dec6e0b 60 prev_topic("")
akashvibhute 0:30537dec6e0b 61 {
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63
akashvibhute 0:30537dec6e0b 64 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 65 {
akashvibhute 0:30537dec6e0b 66 int offset = 0;
akashvibhute 0:30537dec6e0b 67 uint32_t length_prev_topic = strlen(this->prev_topic);
akashvibhute 0:30537dec6e0b 68 memcpy(outbuffer + offset, &length_prev_topic, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 69 offset += 4;
akashvibhute 0:30537dec6e0b 70 memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
akashvibhute 0:30537dec6e0b 71 offset += length_prev_topic;
akashvibhute 0:30537dec6e0b 72 return offset;
akashvibhute 0:30537dec6e0b 73 }
akashvibhute 0:30537dec6e0b 74
akashvibhute 0:30537dec6e0b 75 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 76 {
akashvibhute 0:30537dec6e0b 77 int offset = 0;
akashvibhute 0:30537dec6e0b 78 uint32_t length_prev_topic;
akashvibhute 0:30537dec6e0b 79 memcpy(&length_prev_topic, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 80 offset += 4;
akashvibhute 0:30537dec6e0b 81 for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
akashvibhute 0:30537dec6e0b 82 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84 inbuffer[offset+length_prev_topic-1]=0;
akashvibhute 0:30537dec6e0b 85 this->prev_topic = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 86 offset += length_prev_topic;
akashvibhute 0:30537dec6e0b 87 return offset;
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89
akashvibhute 0:30537dec6e0b 90 const char * getType(){ return MUXSELECT; };
akashvibhute 0:30537dec6e0b 91 const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 };
akashvibhute 0:30537dec6e0b 94
akashvibhute 0:30537dec6e0b 95 class MuxSelect {
akashvibhute 0:30537dec6e0b 96 public:
akashvibhute 0:30537dec6e0b 97 typedef MuxSelectRequest Request;
akashvibhute 0:30537dec6e0b 98 typedef MuxSelectResponse Response;
akashvibhute 0:30537dec6e0b 99 };
akashvibhute 0:30537dec6e0b 100
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 #endif
akashvibhute 0:30537dec6e0b 103