John Lam / ros_lib_melodic_

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

tf/FrameGraph.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?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_FrameGraph_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_FrameGraph_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7
Gary Servin 0:04ac6be8229a 8 namespace tf
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class FrameGraphRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16
Gary Servin 0:04ac6be8229a 17 FrameGraphRequest()
Gary Servin 0:04ac6be8229a 18 {
Gary Servin 0:04ac6be8229a 19 }
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 22 {
Gary Servin 0:04ac6be8229a 23 int offset = 0;
Gary Servin 0:04ac6be8229a 24 return offset;
Gary Servin 0:04ac6be8229a 25 }
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 28 {
Gary Servin 0:04ac6be8229a 29 int offset = 0;
Gary Servin 0:04ac6be8229a 30 return offset;
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 const char * getType(){ return FRAMEGRAPH; };
Gary Servin 0:04ac6be8229a 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
Gary Servin 0:04ac6be8229a 35
Gary Servin 0:04ac6be8229a 36 };
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 class FrameGraphResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 public:
Gary Servin 0:04ac6be8229a 41 typedef const char* _dot_graph_type;
Gary Servin 0:04ac6be8229a 42 _dot_graph_type dot_graph;
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 FrameGraphResponse():
Gary Servin 0:04ac6be8229a 45 dot_graph("")
Gary Servin 0:04ac6be8229a 46 {
Gary Servin 0:04ac6be8229a 47 }
Gary Servin 0:04ac6be8229a 48
Gary Servin 0:04ac6be8229a 49 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 50 {
Gary Servin 0:04ac6be8229a 51 int offset = 0;
Gary Servin 0:04ac6be8229a 52 uint32_t length_dot_graph = strlen(this->dot_graph);
Gary Servin 0:04ac6be8229a 53 varToArr(outbuffer + offset, length_dot_graph);
Gary Servin 0:04ac6be8229a 54 offset += 4;
Gary Servin 0:04ac6be8229a 55 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
Gary Servin 0:04ac6be8229a 56 offset += length_dot_graph;
Gary Servin 0:04ac6be8229a 57 return offset;
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59
Gary Servin 0:04ac6be8229a 60 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 61 {
Gary Servin 0:04ac6be8229a 62 int offset = 0;
Gary Servin 0:04ac6be8229a 63 uint32_t length_dot_graph;
Gary Servin 0:04ac6be8229a 64 arrToVar(length_dot_graph, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 65 offset += 4;
Gary Servin 0:04ac6be8229a 66 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
Gary Servin 0:04ac6be8229a 67 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69 inbuffer[offset+length_dot_graph-1]=0;
Gary Servin 0:04ac6be8229a 70 this->dot_graph = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 71 offset += length_dot_graph;
Gary Servin 0:04ac6be8229a 72 return offset;
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 const char * getType(){ return FRAMEGRAPH; };
Gary Servin 0:04ac6be8229a 76 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
Gary Servin 0:04ac6be8229a 77
Gary Servin 0:04ac6be8229a 78 };
Gary Servin 0:04ac6be8229a 79
Gary Servin 0:04ac6be8229a 80 class FrameGraph {
Gary Servin 0:04ac6be8229a 81 public:
Gary Servin 0:04ac6be8229a 82 typedef FrameGraphRequest Request;
Gary Servin 0:04ac6be8229a 83 typedef FrameGraphResponse Response;
Gary Servin 0:04ac6be8229a 84 };
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87 #endif