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
nodelet/NodeletList.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_SERVICE_NodeletList_h #define _ROS_SERVICE_NodeletList_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace nodelet { static const char NODELETLIST[] = "nodelet/NodeletList"; class NodeletListRequest : public ros::Msg { public: NodeletListRequest() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; return offset; } const char * getType(){ return NODELETLIST; }; const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class NodeletListResponse : public ros::Msg { public: uint32_t nodelets_length; typedef char* _nodelets_type; _nodelets_type st_nodelets; _nodelets_type * nodelets; NodeletListResponse(): nodelets_length(0), nodelets(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->nodelets_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->nodelets_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->nodelets_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->nodelets_length >> (8 * 3)) & 0xFF; offset += sizeof(this->nodelets_length); for( uint32_t i = 0; i < nodelets_length; i++){ uint32_t length_nodeletsi = strlen(this->nodelets[i]); varToArr(outbuffer + offset, length_nodeletsi); offset += 4; memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi); offset += length_nodeletsi; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t nodelets_lengthT = ((uint32_t) (*(inbuffer + offset))); nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->nodelets_length); if(nodelets_lengthT > nodelets_length) this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*)); nodelets_length = nodelets_lengthT; for( uint32_t i = 0; i < nodelets_length; i++){ uint32_t length_st_nodelets; arrToVar(length_st_nodelets, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_nodelets-1]=0; this->st_nodelets = (char *)(inbuffer + offset-1); offset += length_st_nodelets; memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*)); } return offset; } const char * getType(){ return NODELETLIST; }; const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; }; }; class NodeletList { public: typedef NodeletListRequest Request; typedef NodeletListResponse Response; }; } #endif