Diff: tf/FrameGraph.h

Revision:

0:77afd7560544

Child:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/FrameGraph.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,68 @@
+#ifndef ros_SERVICE_FrameGraph_h
+#define ros_SERVICE_FrameGraph_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+
+namespace tf
+{
+
+static const char FRAMEGRAPH[] = "tf/FrameGraph";
+
+  class FrameGraphRequest : public ros::Msg
+  {
+    public:
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+
+  };
+
+  class FrameGraphResponse : public ros::Msg
+  {
+    public:
+      char * dot_graph;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      long * length_dot_graph = (long *)(outbuffer + offset);
+      *length_dot_graph = strlen( (const char*) this->dot_graph);
+      offset += 4;
+      memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph);
+      offset += *length_dot_graph;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_dot_graph = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_dot_graph-1]=0;
+      this->dot_graph = (char *)(inbuffer + offset-1);
+      offset += length_dot_graph;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+
+  };
+
+}
+#endif
\ No newline at end of file