liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

rosserial_msgs/RequestParam.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?

UserRevisionLine numberNew contents of line
isad 6:e5254bf7e322 1 #ifndef _ROS_SERVICE_RequestParam_h
isad 6:e5254bf7e322 2 #define _ROS_SERVICE_RequestParam_h
isad 6:e5254bf7e322 3 #include <stdint.h>
isad 6:e5254bf7e322 4 #include <string.h>
isad 6:e5254bf7e322 5 #include <stdlib.h>
isad 6:e5254bf7e322 6 #include "ros/msg.h"
isad 6:e5254bf7e322 7
isad 6:e5254bf7e322 8 namespace rosserial_msgs
isad 6:e5254bf7e322 9 {
isad 6:e5254bf7e322 10
isad 6:e5254bf7e322 11 static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
isad 6:e5254bf7e322 12
isad 6:e5254bf7e322 13 class RequestParamRequest : public ros::Msg
isad 6:e5254bf7e322 14 {
isad 6:e5254bf7e322 15 public:
isad 6:e5254bf7e322 16 char * name;
isad 6:e5254bf7e322 17
isad 6:e5254bf7e322 18 virtual int serialize(unsigned char *outbuffer) const
isad 6:e5254bf7e322 19 {
isad 6:e5254bf7e322 20 int offset = 0;
isad 6:e5254bf7e322 21 uint32_t length_name = strlen( (const char*) this->name);
isad 6:e5254bf7e322 22 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
isad 6:e5254bf7e322 23 offset += 4;
isad 6:e5254bf7e322 24 memcpy(outbuffer + offset, this->name, length_name);
isad 6:e5254bf7e322 25 offset += length_name;
isad 6:e5254bf7e322 26 return offset;
isad 6:e5254bf7e322 27 }
isad 6:e5254bf7e322 28
isad 6:e5254bf7e322 29 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 30 {
isad 6:e5254bf7e322 31 int offset = 0;
isad 6:e5254bf7e322 32 uint32_t length_name;
isad 6:e5254bf7e322 33 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
isad 6:e5254bf7e322 34 offset += 4;
isad 6:e5254bf7e322 35 for(unsigned int k= offset; k< offset+length_name; ++k){
isad 6:e5254bf7e322 36 inbuffer[k-1]=inbuffer[k];
isad 6:e5254bf7e322 37 }
isad 6:e5254bf7e322 38 inbuffer[offset+length_name-1]=0;
isad 6:e5254bf7e322 39 this->name = (char *)(inbuffer + offset-1);
isad 6:e5254bf7e322 40 offset += length_name;
isad 6:e5254bf7e322 41 return offset;
isad 6:e5254bf7e322 42 }
isad 6:e5254bf7e322 43
isad 6:e5254bf7e322 44 const char * getType(){ return REQUESTPARAM; };
isad 6:e5254bf7e322 45 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
isad 6:e5254bf7e322 46
isad 6:e5254bf7e322 47 };
isad 6:e5254bf7e322 48
isad 6:e5254bf7e322 49 class RequestParamResponse : public ros::Msg
isad 6:e5254bf7e322 50 {
isad 6:e5254bf7e322 51 public:
isad 6:e5254bf7e322 52 uint8_t ints_length;
isad 6:e5254bf7e322 53 int32_t st_ints;
isad 6:e5254bf7e322 54 int32_t * ints;
isad 6:e5254bf7e322 55 uint8_t floats_length;
isad 6:e5254bf7e322 56 float st_floats;
isad 6:e5254bf7e322 57 float * floats;
isad 6:e5254bf7e322 58 uint8_t strings_length;
isad 6:e5254bf7e322 59 char* st_strings;
isad 6:e5254bf7e322 60 char* * strings;
isad 6:e5254bf7e322 61
isad 6:e5254bf7e322 62 virtual int serialize(unsigned char *outbuffer) const
isad 6:e5254bf7e322 63 {
isad 6:e5254bf7e322 64 int offset = 0;
isad 6:e5254bf7e322 65 *(outbuffer + offset++) = ints_length;
isad 6:e5254bf7e322 66 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 67 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 68 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 69 for( uint8_t i = 0; i < ints_length; i++){
isad 6:e5254bf7e322 70 union {
isad 6:e5254bf7e322 71 int32_t real;
isad 6:e5254bf7e322 72 uint32_t base;
isad 6:e5254bf7e322 73 } u_intsi;
isad 6:e5254bf7e322 74 u_intsi.real = this->ints[i];
isad 6:e5254bf7e322 75 *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
isad 6:e5254bf7e322 76 *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 77 *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 78 *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 79 offset += sizeof(this->ints[i]);
isad 6:e5254bf7e322 80 }
isad 6:e5254bf7e322 81 *(outbuffer + offset++) = floats_length;
isad 6:e5254bf7e322 82 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 83 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 84 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 85 for( uint8_t i = 0; i < floats_length; i++){
isad 6:e5254bf7e322 86 union {
isad 6:e5254bf7e322 87 float real;
isad 6:e5254bf7e322 88 uint32_t base;
isad 6:e5254bf7e322 89 } u_floatsi;
isad 6:e5254bf7e322 90 u_floatsi.real = this->floats[i];
isad 6:e5254bf7e322 91 *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
isad 6:e5254bf7e322 92 *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 93 *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 94 *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 95 offset += sizeof(this->floats[i]);
isad 6:e5254bf7e322 96 }
isad 6:e5254bf7e322 97 *(outbuffer + offset++) = strings_length;
isad 6:e5254bf7e322 98 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 99 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 100 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 101 for( uint8_t i = 0; i < strings_length; i++){
isad 6:e5254bf7e322 102 uint32_t length_stringsi = strlen( (const char*) this->strings[i]);
isad 6:e5254bf7e322 103 memcpy(outbuffer + offset, &length_stringsi, sizeof(uint32_t));
isad 6:e5254bf7e322 104 offset += 4;
isad 6:e5254bf7e322 105 memcpy(outbuffer + offset, this->strings[i], length_stringsi);
isad 6:e5254bf7e322 106 offset += length_stringsi;
isad 6:e5254bf7e322 107 }
isad 6:e5254bf7e322 108 return offset;
isad 6:e5254bf7e322 109 }
isad 6:e5254bf7e322 110
isad 6:e5254bf7e322 111 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 112 {
isad 6:e5254bf7e322 113 int offset = 0;
isad 6:e5254bf7e322 114 uint8_t ints_lengthT = *(inbuffer + offset++);
isad 6:e5254bf7e322 115 if(ints_lengthT > ints_length)
isad 6:e5254bf7e322 116 this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
isad 6:e5254bf7e322 117 offset += 3;
isad 6:e5254bf7e322 118 ints_length = ints_lengthT;
isad 6:e5254bf7e322 119 for( uint8_t i = 0; i < ints_length; i++){
isad 6:e5254bf7e322 120 union {
isad 6:e5254bf7e322 121 int32_t real;
isad 6:e5254bf7e322 122 uint32_t base;
isad 6:e5254bf7e322 123 } u_st_ints;
isad 6:e5254bf7e322 124 u_st_ints.base = 0;
isad 6:e5254bf7e322 125 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
isad 6:e5254bf7e322 126 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 127 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 128 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 129 this->st_ints = u_st_ints.real;
isad 6:e5254bf7e322 130 offset += sizeof(this->st_ints);
isad 6:e5254bf7e322 131 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
isad 6:e5254bf7e322 132 }
isad 6:e5254bf7e322 133 uint8_t floats_lengthT = *(inbuffer + offset++);
isad 6:e5254bf7e322 134 if(floats_lengthT > floats_length)
isad 6:e5254bf7e322 135 this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
isad 6:e5254bf7e322 136 offset += 3;
isad 6:e5254bf7e322 137 floats_length = floats_lengthT;
isad 6:e5254bf7e322 138 for( uint8_t i = 0; i < floats_length; i++){
isad 6:e5254bf7e322 139 union {
isad 6:e5254bf7e322 140 float real;
isad 6:e5254bf7e322 141 uint32_t base;
isad 6:e5254bf7e322 142 } u_st_floats;
isad 6:e5254bf7e322 143 u_st_floats.base = 0;
isad 6:e5254bf7e322 144 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
isad 6:e5254bf7e322 145 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 146 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 147 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 148 this->st_floats = u_st_floats.real;
isad 6:e5254bf7e322 149 offset += sizeof(this->st_floats);
isad 6:e5254bf7e322 150 memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
isad 6:e5254bf7e322 151 }
isad 6:e5254bf7e322 152 uint8_t strings_lengthT = *(inbuffer + offset++);
isad 6:e5254bf7e322 153 if(strings_lengthT > strings_length)
isad 6:e5254bf7e322 154 this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
isad 6:e5254bf7e322 155 offset += 3;
isad 6:e5254bf7e322 156 strings_length = strings_lengthT;
isad 6:e5254bf7e322 157 for( uint8_t i = 0; i < strings_length; i++){
isad 6:e5254bf7e322 158 uint32_t length_st_strings;
isad 6:e5254bf7e322 159 memcpy(&length_st_strings, (inbuffer + offset), sizeof(uint32_t));
isad 6:e5254bf7e322 160 offset += 4;
isad 6:e5254bf7e322 161 for(unsigned int k= offset; k< offset+length_st_strings; ++k){
isad 6:e5254bf7e322 162 inbuffer[k-1]=inbuffer[k];
isad 6:e5254bf7e322 163 }
isad 6:e5254bf7e322 164 inbuffer[offset+length_st_strings-1]=0;
isad 6:e5254bf7e322 165 this->st_strings = (char *)(inbuffer + offset-1);
isad 6:e5254bf7e322 166 offset += length_st_strings;
isad 6:e5254bf7e322 167 memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
isad 6:e5254bf7e322 168 }
isad 6:e5254bf7e322 169 return offset;
isad 6:e5254bf7e322 170 }
isad 6:e5254bf7e322 171
isad 6:e5254bf7e322 172 const char * getType(){ return REQUESTPARAM; };
isad 6:e5254bf7e322 173 const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
isad 6:e5254bf7e322 174
isad 6:e5254bf7e322 175 };
isad 6:e5254bf7e322 176
isad 6:e5254bf7e322 177 class RequestParam {
isad 6:e5254bf7e322 178 public:
isad 6:e5254bf7e322 179 typedef RequestParamRequest Request;
isad 6:e5254bf7e322 180 typedef RequestParamResponse Response;
isad 6:e5254bf7e322 181 };
isad 6:e5254bf7e322 182
isad 6:e5254bf7e322 183 }
isad 6:e5254bf7e322 184 #endif