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!

rospy_tutorials/HeaderString.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_rospy_tutorials_HeaderString_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_rospy_tutorials_HeaderString_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace rospy_tutorials
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class HeaderString : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 const char* data;
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 HeaderString():
akashvibhute 0:30537dec6e0b 20 header(),
akashvibhute 0:30537dec6e0b 21 data("")
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 }
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 26 {
akashvibhute 0:30537dec6e0b 27 int offset = 0;
akashvibhute 0:30537dec6e0b 28 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 29 uint32_t length_data = strlen(this->data);
akashvibhute 0:30537dec6e0b 30 memcpy(outbuffer + offset, &length_data, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 31 offset += 4;
akashvibhute 0:30537dec6e0b 32 memcpy(outbuffer + offset, this->data, length_data);
akashvibhute 0:30537dec6e0b 33 offset += length_data;
akashvibhute 0:30537dec6e0b 34 return offset;
akashvibhute 0:30537dec6e0b 35 }
akashvibhute 0:30537dec6e0b 36
akashvibhute 0:30537dec6e0b 37 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 38 {
akashvibhute 0:30537dec6e0b 39 int offset = 0;
akashvibhute 0:30537dec6e0b 40 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 41 uint32_t length_data;
akashvibhute 0:30537dec6e0b 42 memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 43 offset += 4;
akashvibhute 0:30537dec6e0b 44 for(unsigned int k= offset; k< offset+length_data; ++k){
akashvibhute 0:30537dec6e0b 45 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 inbuffer[offset+length_data-1]=0;
akashvibhute 0:30537dec6e0b 48 this->data = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 49 offset += length_data;
akashvibhute 0:30537dec6e0b 50 return offset;
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 const char * getType(){ return "rospy_tutorials/HeaderString"; };
akashvibhute 0:30537dec6e0b 54 const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
akashvibhute 0:30537dec6e0b 55
akashvibhute 0:30537dec6e0b 56 };
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 }
akashvibhute 0:30537dec6e0b 59 #endif