rosserial for Hydro
Fork of rosserial_mbed_lib by
rosserial_msgs/Log.h@6:e5254bf7e322, 2014-05-08 (annotated)
- Committer:
- isad
- Date:
- Thu May 08 06:34:37 2014 +0000
- Revision:
- 6:e5254bf7e322
0.1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
isad | 6:e5254bf7e322 | 1 | #ifndef _ROS_rosserial_msgs_Log_h |
isad | 6:e5254bf7e322 | 2 | #define _ROS_rosserial_msgs_Log_h |
isad | 6:e5254bf7e322 | 3 | |
isad | 6:e5254bf7e322 | 4 | #include <stdint.h> |
isad | 6:e5254bf7e322 | 5 | #include <string.h> |
isad | 6:e5254bf7e322 | 6 | #include <stdlib.h> |
isad | 6:e5254bf7e322 | 7 | #include "ros/msg.h" |
isad | 6:e5254bf7e322 | 8 | |
isad | 6:e5254bf7e322 | 9 | namespace rosserial_msgs |
isad | 6:e5254bf7e322 | 10 | { |
isad | 6:e5254bf7e322 | 11 | |
isad | 6:e5254bf7e322 | 12 | class Log : public ros::Msg |
isad | 6:e5254bf7e322 | 13 | { |
isad | 6:e5254bf7e322 | 14 | public: |
isad | 6:e5254bf7e322 | 15 | uint8_t level; |
isad | 6:e5254bf7e322 | 16 | char * msg; |
isad | 6:e5254bf7e322 | 17 | enum { ROSDEBUG = 0 }; |
isad | 6:e5254bf7e322 | 18 | enum { INFO = 1 }; |
isad | 6:e5254bf7e322 | 19 | enum { WARN = 2 }; |
isad | 6:e5254bf7e322 | 20 | enum { ERROR = 3 }; |
isad | 6:e5254bf7e322 | 21 | enum { FATAL = 4 }; |
isad | 6:e5254bf7e322 | 22 | |
isad | 6:e5254bf7e322 | 23 | virtual int serialize(unsigned char *outbuffer) const |
isad | 6:e5254bf7e322 | 24 | { |
isad | 6:e5254bf7e322 | 25 | int offset = 0; |
isad | 6:e5254bf7e322 | 26 | *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF; |
isad | 6:e5254bf7e322 | 27 | offset += sizeof(this->level); |
isad | 6:e5254bf7e322 | 28 | uint32_t length_msg = strlen( (const char*) this->msg); |
isad | 6:e5254bf7e322 | 29 | memcpy(outbuffer + offset, &length_msg, sizeof(uint32_t)); |
isad | 6:e5254bf7e322 | 30 | offset += 4; |
isad | 6:e5254bf7e322 | 31 | memcpy(outbuffer + offset, this->msg, length_msg); |
isad | 6:e5254bf7e322 | 32 | offset += length_msg; |
isad | 6:e5254bf7e322 | 33 | return offset; |
isad | 6:e5254bf7e322 | 34 | } |
isad | 6:e5254bf7e322 | 35 | |
isad | 6:e5254bf7e322 | 36 | virtual int deserialize(unsigned char *inbuffer) |
isad | 6:e5254bf7e322 | 37 | { |
isad | 6:e5254bf7e322 | 38 | int offset = 0; |
isad | 6:e5254bf7e322 | 39 | this->level = ((uint8_t) (*(inbuffer + offset))); |
isad | 6:e5254bf7e322 | 40 | offset += sizeof(this->level); |
isad | 6:e5254bf7e322 | 41 | uint32_t length_msg; |
isad | 6:e5254bf7e322 | 42 | memcpy(&length_msg, (inbuffer + offset), sizeof(uint32_t)); |
isad | 6:e5254bf7e322 | 43 | offset += 4; |
isad | 6:e5254bf7e322 | 44 | for(unsigned int k= offset; k< offset+length_msg; ++k){ |
isad | 6:e5254bf7e322 | 45 | inbuffer[k-1]=inbuffer[k]; |
isad | 6:e5254bf7e322 | 46 | } |
isad | 6:e5254bf7e322 | 47 | inbuffer[offset+length_msg-1]=0; |
isad | 6:e5254bf7e322 | 48 | this->msg = (char *)(inbuffer + offset-1); |
isad | 6:e5254bf7e322 | 49 | offset += length_msg; |
isad | 6:e5254bf7e322 | 50 | return offset; |
isad | 6:e5254bf7e322 | 51 | } |
isad | 6:e5254bf7e322 | 52 | |
isad | 6:e5254bf7e322 | 53 | const char * getType(){ return "rosserial_msgs/Log"; }; |
isad | 6:e5254bf7e322 | 54 | const char * getMD5(){ return "11abd731c25933261cd6183bd12d6295"; }; |
isad | 6:e5254bf7e322 | 55 | |
isad | 6:e5254bf7e322 | 56 | }; |
isad | 6:e5254bf7e322 | 57 | |
isad | 6:e5254bf7e322 | 58 | } |
isad | 6:e5254bf7e322 | 59 | #endif |