Gary Servin / rosserial_mbed_lib

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

tf/FrameGraph.h@3:1cf99502f396, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:54:45 2011 +0000
Revision:
3:1cf99502f396
Parent:
0:77afd7560544 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_SERVICE_FrameGraph_h
nucho 3:1cf99502f396 2 #define _ROS_SERVICE_FrameGraph_h
nucho 0:77afd7560544 3 #include <stdint.h>
nucho 0:77afd7560544 4 #include <string.h>
nucho 0:77afd7560544 5 #include <stdlib.h>
nucho 3:1cf99502f396 6 #include "ros/msg.h"
nucho 0:77afd7560544 7
nucho 0:77afd7560544 8 namespace tf
nucho 0:77afd7560544 9 {
nucho 0:77afd7560544 10
nucho 0:77afd7560544 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
nucho 0:77afd7560544 12
nucho 0:77afd7560544 13 class FrameGraphRequest : public ros::Msg
nucho 0:77afd7560544 14 {
nucho 0:77afd7560544 15 public:
nucho 0:77afd7560544 16
nucho 3:1cf99502f396 17 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 18 {
nucho 0:77afd7560544 19 int offset = 0;
nucho 0:77afd7560544 20 return offset;
nucho 0:77afd7560544 21 }
nucho 0:77afd7560544 22
nucho 0:77afd7560544 23 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 24 {
nucho 0:77afd7560544 25 int offset = 0;
nucho 0:77afd7560544 26 return offset;
nucho 0:77afd7560544 27 }
nucho 0:77afd7560544 28
nucho 3:1cf99502f396 29 virtual const char * getType(){ return FRAMEGRAPH; };
nucho 3:1cf99502f396 30 virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
nucho 0:77afd7560544 31
nucho 0:77afd7560544 32 };
nucho 0:77afd7560544 33
nucho 0:77afd7560544 34 class FrameGraphResponse : public ros::Msg
nucho 0:77afd7560544 35 {
nucho 0:77afd7560544 36 public:
nucho 0:77afd7560544 37 char * dot_graph;
nucho 0:77afd7560544 38
nucho 3:1cf99502f396 39 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 40 {
nucho 0:77afd7560544 41 int offset = 0;
nucho 3:1cf99502f396 42 uint32_t * length_dot_graph = (uint32_t *)(outbuffer + offset);
nucho 0:77afd7560544 43 *length_dot_graph = strlen( (const char*) this->dot_graph);
nucho 0:77afd7560544 44 offset += 4;
nucho 0:77afd7560544 45 memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph);
nucho 0:77afd7560544 46 offset += *length_dot_graph;
nucho 0:77afd7560544 47 return offset;
nucho 0:77afd7560544 48 }
nucho 0:77afd7560544 49
nucho 0:77afd7560544 50 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 51 {
nucho 0:77afd7560544 52 int offset = 0;
nucho 0:77afd7560544 53 uint32_t length_dot_graph = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 54 offset += 4;
nucho 0:77afd7560544 55 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
nucho 0:77afd7560544 56 inbuffer[k-1]=inbuffer[k];
nucho 3:1cf99502f396 57 }
nucho 0:77afd7560544 58 inbuffer[offset+length_dot_graph-1]=0;
nucho 0:77afd7560544 59 this->dot_graph = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 60 offset += length_dot_graph;
nucho 0:77afd7560544 61 return offset;
nucho 0:77afd7560544 62 }
nucho 0:77afd7560544 63
nucho 3:1cf99502f396 64 virtual const char * getType(){ return FRAMEGRAPH; };
nucho 3:1cf99502f396 65 virtual const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
nucho 3:1cf99502f396 66
nucho 3:1cf99502f396 67 };
nucho 0:77afd7560544 68
nucho 3:1cf99502f396 69 class FrameGraph {
nucho 3:1cf99502f396 70 public:
nucho 3:1cf99502f396 71 typedef FrameGraphRequest Request;
nucho 3:1cf99502f396 72 typedef FrameGraphResponse Response;
nucho 0:77afd7560544 73 };
nucho 0:77afd7560544 74
nucho 0:77afd7560544 75 }
nucho 0:77afd7560544 76 #endif