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

topic_tools/DemuxSelect.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_DemuxSelect_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_DemuxSelect_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 topic_tools
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char DEMUXSELECT[] = "topic_tools/DemuxSelect";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class DemuxSelectRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _topic_type;
Gary Servin 0:04ac6be8229a 17 _topic_type topic;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 DemuxSelectRequest():
Gary Servin 0:04ac6be8229a 20 topic("")
Gary Servin 0:04ac6be8229a 21 {
Gary Servin 0:04ac6be8229a 22 }
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 int offset = 0;
Gary Servin 0:04ac6be8229a 27 uint32_t length_topic = strlen(this->topic);
Gary Servin 0:04ac6be8229a 28 varToArr(outbuffer + offset, length_topic);
Gary Servin 0:04ac6be8229a 29 offset += 4;
Gary Servin 0:04ac6be8229a 30 memcpy(outbuffer + offset, this->topic, length_topic);
Gary Servin 0:04ac6be8229a 31 offset += length_topic;
Gary Servin 0:04ac6be8229a 32 return offset;
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 uint32_t length_topic;
Gary Servin 0:04ac6be8229a 39 arrToVar(length_topic, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 for(unsigned int k= offset; k< offset+length_topic; ++k){
Gary Servin 0:04ac6be8229a 42 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44 inbuffer[offset+length_topic-1]=0;
Gary Servin 0:04ac6be8229a 45 this->topic = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 46 offset += length_topic;
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 const char * getType(){ return DEMUXSELECT; };
Gary Servin 0:04ac6be8229a 51 const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 };
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 class DemuxSelectResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 public:
Gary Servin 0:04ac6be8229a 58 typedef const char* _prev_topic_type;
Gary Servin 0:04ac6be8229a 59 _prev_topic_type prev_topic;
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 DemuxSelectResponse():
Gary Servin 0:04ac6be8229a 62 prev_topic("")
Gary Servin 0:04ac6be8229a 63 {
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 int offset = 0;
Gary Servin 0:04ac6be8229a 69 uint32_t length_prev_topic = strlen(this->prev_topic);
Gary Servin 0:04ac6be8229a 70 varToArr(outbuffer + offset, length_prev_topic);
Gary Servin 0:04ac6be8229a 71 offset += 4;
Gary Servin 0:04ac6be8229a 72 memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
Gary Servin 0:04ac6be8229a 73 offset += length_prev_topic;
Gary Servin 0:04ac6be8229a 74 return offset;
Gary Servin 0:04ac6be8229a 75 }
Gary Servin 0:04ac6be8229a 76
Gary Servin 0:04ac6be8229a 77 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 78 {
Gary Servin 0:04ac6be8229a 79 int offset = 0;
Gary Servin 0:04ac6be8229a 80 uint32_t length_prev_topic;
Gary Servin 0:04ac6be8229a 81 arrToVar(length_prev_topic, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 82 offset += 4;
Gary Servin 0:04ac6be8229a 83 for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
Gary Servin 0:04ac6be8229a 84 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 85 }
Gary Servin 0:04ac6be8229a 86 inbuffer[offset+length_prev_topic-1]=0;
Gary Servin 0:04ac6be8229a 87 this->prev_topic = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 88 offset += length_prev_topic;
Gary Servin 0:04ac6be8229a 89 return offset;
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91
Gary Servin 0:04ac6be8229a 92 const char * getType(){ return DEMUXSELECT; };
Gary Servin 0:04ac6be8229a 93 const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
Gary Servin 0:04ac6be8229a 94
Gary Servin 0:04ac6be8229a 95 };
Gary Servin 0:04ac6be8229a 96
Gary Servin 0:04ac6be8229a 97 class DemuxSelect {
Gary Servin 0:04ac6be8229a 98 public:
Gary Servin 0:04ac6be8229a 99 typedef DemuxSelectRequest Request;
Gary Servin 0:04ac6be8229a 100 typedef DemuxSelectResponse Response;
Gary Servin 0:04ac6be8229a 101 };
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104 #endif