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
topic_tools/MuxList.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_SERVICE_MuxList_h #define _ROS_SERVICE_MuxList_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace topic_tools { static const char MUXLIST[] = "topic_tools/MuxList"; class MuxListRequest : public ros::Msg { public: MuxListRequest() { } 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 MUXLIST; }; const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class MuxListResponse : public ros::Msg { public: uint32_t topics_length; typedef char* _topics_type; _topics_type st_topics; _topics_type * topics; MuxListResponse(): topics_length(0), topics(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF; offset += sizeof(this->topics_length); for( uint32_t i = 0; i < topics_length; i++){ uint32_t length_topicsi = strlen(this->topics[i]); varToArr(outbuffer + offset, length_topicsi); offset += 4; memcpy(outbuffer + offset, this->topics[i], length_topicsi); offset += length_topicsi; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset))); topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->topics_length); if(topics_lengthT > topics_length) this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); topics_length = topics_lengthT; for( uint32_t i = 0; i < topics_length; i++){ uint32_t length_st_topics; arrToVar(length_st_topics, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_topics; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_topics-1]=0; this->st_topics = (char *)(inbuffer + offset-1); offset += length_st_topics; memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); } return offset; } const char * getType(){ return MUXLIST; }; const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; }; class MuxList { public: typedef MuxListRequest Request; typedef MuxListResponse Response; }; } #endif