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
Diff: topic_tools/MuxList.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 topic_tools/MuxList.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/topic_tools/MuxList.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,107 @@ +#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