make changes on buffer serial
controller_manager_msgs/HardwareInterfaceResources.h@0:04ac6be8229a, 2019-11-08 (annotated)
- Committer:
- Gary Servin
- Date:
- Fri Nov 08 14:38:09 2019 -0300
- Revision:
- 0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_controller_manager_msgs_HardwareInterfaceResources_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_controller_manager_msgs_HardwareInterfaceResources_h |
Gary Servin |
0:04ac6be8229a | 3 | |
Gary Servin |
0:04ac6be8229a | 4 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 7 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 8 | |
Gary Servin |
0:04ac6be8229a | 9 | namespace controller_manager_msgs |
Gary Servin |
0:04ac6be8229a | 10 | { |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | class HardwareInterfaceResources : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | public: |
Gary Servin |
0:04ac6be8229a | 15 | typedef const char* _hardware_interface_type; |
Gary Servin |
0:04ac6be8229a | 16 | _hardware_interface_type hardware_interface; |
Gary Servin |
0:04ac6be8229a | 17 | uint32_t resources_length; |
Gary Servin |
0:04ac6be8229a | 18 | typedef char* _resources_type; |
Gary Servin |
0:04ac6be8229a | 19 | _resources_type st_resources; |
Gary Servin |
0:04ac6be8229a | 20 | _resources_type * resources; |
Gary Servin |
0:04ac6be8229a | 21 | |
Gary Servin |
0:04ac6be8229a | 22 | HardwareInterfaceResources(): |
Gary Servin |
0:04ac6be8229a | 23 | hardware_interface(""), |
Gary Servin |
0:04ac6be8229a | 24 | resources_length(0), resources(NULL) |
Gary Servin |
0:04ac6be8229a | 25 | { |
Gary Servin |
0:04ac6be8229a | 26 | } |
Gary Servin |
0:04ac6be8229a | 27 | |
Gary Servin |
0:04ac6be8229a | 28 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 29 | { |
Gary Servin |
0:04ac6be8229a | 30 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 31 | uint32_t length_hardware_interface = strlen(this->hardware_interface); |
Gary Servin |
0:04ac6be8229a | 32 | varToArr(outbuffer + offset, length_hardware_interface); |
Gary Servin |
0:04ac6be8229a | 33 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 34 | memcpy(outbuffer + offset, this->hardware_interface, length_hardware_interface); |
Gary Servin |
0:04ac6be8229a | 35 | offset += length_hardware_interface; |
Gary Servin |
0:04ac6be8229a | 36 | *(outbuffer + offset + 0) = (this->resources_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 37 | *(outbuffer + offset + 1) = (this->resources_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 38 | *(outbuffer + offset + 2) = (this->resources_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 39 | *(outbuffer + offset + 3) = (this->resources_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 40 | offset += sizeof(this->resources_length); |
Gary Servin |
0:04ac6be8229a | 41 | for( uint32_t i = 0; i < resources_length; i++){ |
Gary Servin |
0:04ac6be8229a | 42 | uint32_t length_resourcesi = strlen(this->resources[i]); |
Gary Servin |
0:04ac6be8229a | 43 | varToArr(outbuffer + offset, length_resourcesi); |
Gary Servin |
0:04ac6be8229a | 44 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 45 | memcpy(outbuffer + offset, this->resources[i], length_resourcesi); |
Gary Servin |
0:04ac6be8229a | 46 | offset += length_resourcesi; |
Gary Servin |
0:04ac6be8229a | 47 | } |
Gary Servin |
0:04ac6be8229a | 48 | return offset; |
Gary Servin |
0:04ac6be8229a | 49 | } |
Gary Servin |
0:04ac6be8229a | 50 | |
Gary Servin |
0:04ac6be8229a | 51 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 52 | { |
Gary Servin |
0:04ac6be8229a | 53 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 54 | uint32_t length_hardware_interface; |
Gary Servin |
0:04ac6be8229a | 55 | arrToVar(length_hardware_interface, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 56 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 57 | for(unsigned int k= offset; k< offset+length_hardware_interface; ++k){ |
Gary Servin |
0:04ac6be8229a | 58 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 59 | } |
Gary Servin |
0:04ac6be8229a | 60 | inbuffer[offset+length_hardware_interface-1]=0; |
Gary Servin |
0:04ac6be8229a | 61 | this->hardware_interface = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 62 | offset += length_hardware_interface; |
Gary Servin |
0:04ac6be8229a | 63 | uint32_t resources_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 64 | resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 65 | resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 66 | resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 67 | offset += sizeof(this->resources_length); |
Gary Servin |
0:04ac6be8229a | 68 | if(resources_lengthT > resources_length) |
Gary Servin |
0:04ac6be8229a | 69 | this->resources = (char**)realloc(this->resources, resources_lengthT * sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 70 | resources_length = resources_lengthT; |
Gary Servin |
0:04ac6be8229a | 71 | for( uint32_t i = 0; i < resources_length; i++){ |
Gary Servin |
0:04ac6be8229a | 72 | uint32_t length_st_resources; |
Gary Servin |
0:04ac6be8229a | 73 | arrToVar(length_st_resources, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 74 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 75 | for(unsigned int k= offset; k< offset+length_st_resources; ++k){ |
Gary Servin |
0:04ac6be8229a | 76 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 77 | } |
Gary Servin |
0:04ac6be8229a | 78 | inbuffer[offset+length_st_resources-1]=0; |
Gary Servin |
0:04ac6be8229a | 79 | this->st_resources = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 80 | offset += length_st_resources; |
Gary Servin |
0:04ac6be8229a | 81 | memcpy( &(this->resources[i]), &(this->st_resources), sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 82 | } |
Gary Servin |
0:04ac6be8229a | 83 | return offset; |
Gary Servin |
0:04ac6be8229a | 84 | } |
Gary Servin |
0:04ac6be8229a | 85 | |
Gary Servin |
0:04ac6be8229a | 86 | const char * getType(){ return "controller_manager_msgs/HardwareInterfaceResources"; }; |
Gary Servin |
0:04ac6be8229a | 87 | const char * getMD5(){ return "f25b55cbf1d1f76e82e5ec9e83f76258"; }; |
Gary Servin |
0:04ac6be8229a | 88 | |
Gary Servin |
0:04ac6be8229a | 89 | }; |
Gary Servin |
0:04ac6be8229a | 90 | |
Gary Servin |
0:04ac6be8229a | 91 | } |
Gary Servin |
0:04ac6be8229a | 92 | #endif |