rosserial for Hydro
Fork of rosserial_mbed_lib by
std_msgs/String.h@5:c30c76e8c3f1, 2014-05-08 (annotated)
- Committer:
- isad
- Date:
- Thu May 08 06:34:18 2014 +0000
- Revision:
- 5:c30c76e8c3f1
- Parent:
- 3:1cf99502f396
rosserial_mbed for ROS hydro
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
isad | 5:c30c76e8c3f1 | 1 | #ifndef _ROS_std_msgs_String_h |
isad | 5:c30c76e8c3f1 | 2 | #define _ROS_std_msgs_String_h |
isad | 5:c30c76e8c3f1 | 3 | |
isad | 5:c30c76e8c3f1 | 4 | #include <stdint.h> |
isad | 5:c30c76e8c3f1 | 5 | #include <string.h> |
isad | 5:c30c76e8c3f1 | 6 | #include <stdlib.h> |
isad | 5:c30c76e8c3f1 | 7 | #include "ros/msg.h" |
isad | 5:c30c76e8c3f1 | 8 | |
isad | 5:c30c76e8c3f1 | 9 | namespace std_msgs |
isad | 5:c30c76e8c3f1 | 10 | { |
isad | 5:c30c76e8c3f1 | 11 | |
isad | 5:c30c76e8c3f1 | 12 | class String : public ros::Msg |
isad | 5:c30c76e8c3f1 | 13 | { |
isad | 5:c30c76e8c3f1 | 14 | public: |
isad | 5:c30c76e8c3f1 | 15 | char * data; |
isad | 5:c30c76e8c3f1 | 16 | |
isad | 5:c30c76e8c3f1 | 17 | virtual int serialize(unsigned char *outbuffer) const |
isad | 5:c30c76e8c3f1 | 18 | { |
isad | 5:c30c76e8c3f1 | 19 | int offset = 0; |
isad | 5:c30c76e8c3f1 | 20 | uint32_t length_data = strlen( (const char*) this->data); |
isad | 5:c30c76e8c3f1 | 21 | memcpy(outbuffer + offset, &length_data, sizeof(uint32_t)); |
isad | 5:c30c76e8c3f1 | 22 | offset += 4; |
isad | 5:c30c76e8c3f1 | 23 | memcpy(outbuffer + offset, this->data, length_data); |
isad | 5:c30c76e8c3f1 | 24 | offset += length_data; |
isad | 5:c30c76e8c3f1 | 25 | return offset; |
isad | 5:c30c76e8c3f1 | 26 | } |
isad | 5:c30c76e8c3f1 | 27 | |
isad | 5:c30c76e8c3f1 | 28 | virtual int deserialize(unsigned char *inbuffer) |
isad | 5:c30c76e8c3f1 | 29 | { |
isad | 5:c30c76e8c3f1 | 30 | int offset = 0; |
isad | 5:c30c76e8c3f1 | 31 | uint32_t length_data; |
isad | 5:c30c76e8c3f1 | 32 | memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t)); |
isad | 5:c30c76e8c3f1 | 33 | offset += 4; |
isad | 5:c30c76e8c3f1 | 34 | for(unsigned int k= offset; k< offset+length_data; ++k){ |
isad | 5:c30c76e8c3f1 | 35 | inbuffer[k-1]=inbuffer[k]; |
isad | 5:c30c76e8c3f1 | 36 | } |
isad | 5:c30c76e8c3f1 | 37 | inbuffer[offset+length_data-1]=0; |
isad | 5:c30c76e8c3f1 | 38 | this->data = (char *)(inbuffer + offset-1); |
isad | 5:c30c76e8c3f1 | 39 | offset += length_data; |
isad | 5:c30c76e8c3f1 | 40 | return offset; |
isad | 5:c30c76e8c3f1 | 41 | } |
isad | 5:c30c76e8c3f1 | 42 | |
isad | 5:c30c76e8c3f1 | 43 | const char * getType(){ return "std_msgs/String"; }; |
isad | 5:c30c76e8c3f1 | 44 | const char * getMD5(){ return "992ce8a1687cec8c8bd883ec73ca41d1"; }; |
isad | 5:c30c76e8c3f1 | 45 | |
isad | 5:c30c76e8c3f1 | 46 | }; |
isad | 5:c30c76e8c3f1 | 47 | |
isad | 5:c30c76e8c3f1 | 48 | } |
nucho | 0:77afd7560544 | 49 | #endif |