ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
rosserial_msgs/RequestParam.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_RequestParam_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_RequestParam_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace rosserial_msgs |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class RequestParamRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef const char* _name_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _name_type name; |
garyservin | 0:9e9b7db60fd5 | 18 | |
garyservin | 0:9e9b7db60fd5 | 19 | RequestParamRequest(): |
garyservin | 0:9e9b7db60fd5 | 20 | name("") |
garyservin | 0:9e9b7db60fd5 | 21 | { |
garyservin | 0:9e9b7db60fd5 | 22 | } |
garyservin | 0:9e9b7db60fd5 | 23 | |
garyservin | 0:9e9b7db60fd5 | 24 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 25 | { |
garyservin | 0:9e9b7db60fd5 | 26 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 27 | uint32_t length_name = strlen(this->name); |
garyservin | 0:9e9b7db60fd5 | 28 | varToArr(outbuffer + offset, length_name); |
garyservin | 0:9e9b7db60fd5 | 29 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 30 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:9e9b7db60fd5 | 31 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 32 | return offset; |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | uint32_t length_name; |
garyservin | 0:9e9b7db60fd5 | 39 | arrToVar(length_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 40 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 41 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 42 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 43 | } |
garyservin | 0:9e9b7db60fd5 | 44 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 45 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 46 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 47 | return offset; |
garyservin | 0:9e9b7db60fd5 | 48 | } |
garyservin | 0:9e9b7db60fd5 | 49 | |
garyservin | 0:9e9b7db60fd5 | 50 | const char * getType(){ return REQUESTPARAM; }; |
garyservin | 0:9e9b7db60fd5 | 51 | const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | }; |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | class RequestParamResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 56 | { |
garyservin | 0:9e9b7db60fd5 | 57 | public: |
garyservin | 0:9e9b7db60fd5 | 58 | uint32_t ints_length; |
garyservin | 0:9e9b7db60fd5 | 59 | typedef int32_t _ints_type; |
garyservin | 0:9e9b7db60fd5 | 60 | _ints_type st_ints; |
garyservin | 0:9e9b7db60fd5 | 61 | _ints_type * ints; |
garyservin | 0:9e9b7db60fd5 | 62 | uint32_t floats_length; |
garyservin | 0:9e9b7db60fd5 | 63 | typedef float _floats_type; |
garyservin | 0:9e9b7db60fd5 | 64 | _floats_type st_floats; |
garyservin | 0:9e9b7db60fd5 | 65 | _floats_type * floats; |
garyservin | 0:9e9b7db60fd5 | 66 | uint32_t strings_length; |
garyservin | 0:9e9b7db60fd5 | 67 | typedef char* _strings_type; |
garyservin | 0:9e9b7db60fd5 | 68 | _strings_type st_strings; |
garyservin | 0:9e9b7db60fd5 | 69 | _strings_type * strings; |
garyservin | 0:9e9b7db60fd5 | 70 | |
garyservin | 0:9e9b7db60fd5 | 71 | RequestParamResponse(): |
garyservin | 0:9e9b7db60fd5 | 72 | ints_length(0), ints(NULL), |
garyservin | 0:9e9b7db60fd5 | 73 | floats_length(0), floats(NULL), |
garyservin | 0:9e9b7db60fd5 | 74 | strings_length(0), strings(NULL) |
garyservin | 0:9e9b7db60fd5 | 75 | { |
garyservin | 0:9e9b7db60fd5 | 76 | } |
garyservin | 0:9e9b7db60fd5 | 77 | |
garyservin | 0:9e9b7db60fd5 | 78 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 79 | { |
garyservin | 0:9e9b7db60fd5 | 80 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 81 | *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | offset += sizeof(this->ints_length); |
garyservin | 0:9e9b7db60fd5 | 86 | for( uint32_t i = 0; i < ints_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 87 | union { |
garyservin | 0:9e9b7db60fd5 | 88 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 89 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 90 | } u_intsi; |
garyservin | 0:9e9b7db60fd5 | 91 | u_intsi.real = this->ints[i]; |
garyservin | 0:9e9b7db60fd5 | 92 | *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 93 | *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 94 | *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 95 | *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 96 | offset += sizeof(this->ints[i]); |
garyservin | 0:9e9b7db60fd5 | 97 | } |
garyservin | 0:9e9b7db60fd5 | 98 | *(outbuffer + offset + 0) = (this->floats_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 99 | *(outbuffer + offset + 1) = (this->floats_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 100 | *(outbuffer + offset + 2) = (this->floats_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 101 | *(outbuffer + offset + 3) = (this->floats_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 102 | offset += sizeof(this->floats_length); |
garyservin | 0:9e9b7db60fd5 | 103 | for( uint32_t i = 0; i < floats_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 104 | union { |
garyservin | 0:9e9b7db60fd5 | 105 | float real; |
garyservin | 0:9e9b7db60fd5 | 106 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 107 | } u_floatsi; |
garyservin | 0:9e9b7db60fd5 | 108 | u_floatsi.real = this->floats[i]; |
garyservin | 0:9e9b7db60fd5 | 109 | *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 110 | *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 111 | *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 112 | *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 113 | offset += sizeof(this->floats[i]); |
garyservin | 0:9e9b7db60fd5 | 114 | } |
garyservin | 0:9e9b7db60fd5 | 115 | *(outbuffer + offset + 0) = (this->strings_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 116 | *(outbuffer + offset + 1) = (this->strings_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 117 | *(outbuffer + offset + 2) = (this->strings_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 118 | *(outbuffer + offset + 3) = (this->strings_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 119 | offset += sizeof(this->strings_length); |
garyservin | 0:9e9b7db60fd5 | 120 | for( uint32_t i = 0; i < strings_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 121 | uint32_t length_stringsi = strlen(this->strings[i]); |
garyservin | 0:9e9b7db60fd5 | 122 | varToArr(outbuffer + offset, length_stringsi); |
garyservin | 0:9e9b7db60fd5 | 123 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 124 | memcpy(outbuffer + offset, this->strings[i], length_stringsi); |
garyservin | 0:9e9b7db60fd5 | 125 | offset += length_stringsi; |
garyservin | 0:9e9b7db60fd5 | 126 | } |
garyservin | 0:9e9b7db60fd5 | 127 | return offset; |
garyservin | 0:9e9b7db60fd5 | 128 | } |
garyservin | 0:9e9b7db60fd5 | 129 | |
garyservin | 0:9e9b7db60fd5 | 130 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 131 | { |
garyservin | 0:9e9b7db60fd5 | 132 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 133 | uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 134 | ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 135 | ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 136 | ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 137 | offset += sizeof(this->ints_length); |
garyservin | 0:9e9b7db60fd5 | 138 | if(ints_lengthT > ints_length) |
garyservin | 0:9e9b7db60fd5 | 139 | this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t)); |
garyservin | 0:9e9b7db60fd5 | 140 | ints_length = ints_lengthT; |
garyservin | 0:9e9b7db60fd5 | 141 | for( uint32_t i = 0; i < ints_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 142 | union { |
garyservin | 0:9e9b7db60fd5 | 143 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 144 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 145 | } u_st_ints; |
garyservin | 0:9e9b7db60fd5 | 146 | u_st_ints.base = 0; |
garyservin | 0:9e9b7db60fd5 | 147 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 148 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 149 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 150 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 151 | this->st_ints = u_st_ints.real; |
garyservin | 0:9e9b7db60fd5 | 152 | offset += sizeof(this->st_ints); |
garyservin | 0:9e9b7db60fd5 | 153 | memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t)); |
garyservin | 0:9e9b7db60fd5 | 154 | } |
garyservin | 0:9e9b7db60fd5 | 155 | uint32_t floats_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 156 | floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 157 | floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 158 | floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 159 | offset += sizeof(this->floats_length); |
garyservin | 0:9e9b7db60fd5 | 160 | if(floats_lengthT > floats_length) |
garyservin | 0:9e9b7db60fd5 | 161 | this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 162 | floats_length = floats_lengthT; |
garyservin | 0:9e9b7db60fd5 | 163 | for( uint32_t i = 0; i < floats_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 164 | union { |
garyservin | 0:9e9b7db60fd5 | 165 | float real; |
garyservin | 0:9e9b7db60fd5 | 166 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 167 | } u_st_floats; |
garyservin | 0:9e9b7db60fd5 | 168 | u_st_floats.base = 0; |
garyservin | 0:9e9b7db60fd5 | 169 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 170 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 171 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 172 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 173 | this->st_floats = u_st_floats.real; |
garyservin | 0:9e9b7db60fd5 | 174 | offset += sizeof(this->st_floats); |
garyservin | 0:9e9b7db60fd5 | 175 | memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float)); |
garyservin | 0:9e9b7db60fd5 | 176 | } |
garyservin | 0:9e9b7db60fd5 | 177 | uint32_t strings_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 178 | strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 179 | strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 180 | strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 181 | offset += sizeof(this->strings_length); |
garyservin | 0:9e9b7db60fd5 | 182 | if(strings_lengthT > strings_length) |
garyservin | 0:9e9b7db60fd5 | 183 | this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 184 | strings_length = strings_lengthT; |
garyservin | 0:9e9b7db60fd5 | 185 | for( uint32_t i = 0; i < strings_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 186 | uint32_t length_st_strings; |
garyservin | 0:9e9b7db60fd5 | 187 | arrToVar(length_st_strings, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 188 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 189 | for(unsigned int k= offset; k< offset+length_st_strings; ++k){ |
garyservin | 0:9e9b7db60fd5 | 190 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 191 | } |
garyservin | 0:9e9b7db60fd5 | 192 | inbuffer[offset+length_st_strings-1]=0; |
garyservin | 0:9e9b7db60fd5 | 193 | this->st_strings = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 194 | offset += length_st_strings; |
garyservin | 0:9e9b7db60fd5 | 195 | memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 196 | } |
garyservin | 0:9e9b7db60fd5 | 197 | return offset; |
garyservin | 0:9e9b7db60fd5 | 198 | } |
garyservin | 0:9e9b7db60fd5 | 199 | |
garyservin | 0:9e9b7db60fd5 | 200 | const char * getType(){ return REQUESTPARAM; }; |
garyservin | 0:9e9b7db60fd5 | 201 | const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; }; |
garyservin | 0:9e9b7db60fd5 | 202 | |
garyservin | 0:9e9b7db60fd5 | 203 | }; |
garyservin | 0:9e9b7db60fd5 | 204 | |
garyservin | 0:9e9b7db60fd5 | 205 | class RequestParam { |
garyservin | 0:9e9b7db60fd5 | 206 | public: |
garyservin | 0:9e9b7db60fd5 | 207 | typedef RequestParamRequest Request; |
garyservin | 0:9e9b7db60fd5 | 208 | typedef RequestParamResponse Response; |
garyservin | 0:9e9b7db60fd5 | 209 | }; |
garyservin | 0:9e9b7db60fd5 | 210 | |
garyservin | 0:9e9b7db60fd5 | 211 | } |
garyservin | 0:9e9b7db60fd5 | 212 | #endif |