rosserial for Hydro
Fork of rosserial_mbed_lib by
dianostic_msgs/KeyValue.h@1:ff0ec969dad1, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:19:36 2011 +0000
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 1:ff0ec969dad1 | 1 | #ifndef ros_diagnostic_msgs_KeyValue_h |
nucho | 1:ff0ec969dad1 | 2 | #define ros_diagnostic_msgs_KeyValue_h |
nucho | 0:77afd7560544 | 3 | |
nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
nucho | 0:77afd7560544 | 5 | #include <string.h> |
nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
nucho | 0:77afd7560544 | 8 | |
nucho | 1:ff0ec969dad1 | 9 | namespace diagnostic_msgs { |
nucho | 0:77afd7560544 | 10 | |
nucho | 1:ff0ec969dad1 | 11 | class KeyValue : public ros::Msg { |
nucho | 1:ff0ec969dad1 | 12 | public: |
nucho | 1:ff0ec969dad1 | 13 | char * key; |
nucho | 1:ff0ec969dad1 | 14 | char * value; |
nucho | 0:77afd7560544 | 15 | |
nucho | 1:ff0ec969dad1 | 16 | virtual int serialize(unsigned char *outbuffer) { |
nucho | 1:ff0ec969dad1 | 17 | int offset = 0; |
nucho | 1:ff0ec969dad1 | 18 | long * length_key = (long *)(outbuffer + offset); |
nucho | 1:ff0ec969dad1 | 19 | *length_key = strlen( (const char*) this->key); |
nucho | 1:ff0ec969dad1 | 20 | offset += 4; |
nucho | 1:ff0ec969dad1 | 21 | memcpy(outbuffer + offset, this->key, *length_key); |
nucho | 1:ff0ec969dad1 | 22 | offset += *length_key; |
nucho | 1:ff0ec969dad1 | 23 | long * length_value = (long *)(outbuffer + offset); |
nucho | 1:ff0ec969dad1 | 24 | *length_value = strlen( (const char*) this->value); |
nucho | 1:ff0ec969dad1 | 25 | offset += 4; |
nucho | 1:ff0ec969dad1 | 26 | memcpy(outbuffer + offset, this->value, *length_value); |
nucho | 1:ff0ec969dad1 | 27 | offset += *length_value; |
nucho | 1:ff0ec969dad1 | 28 | return offset; |
nucho | 0:77afd7560544 | 29 | } |
nucho | 0:77afd7560544 | 30 | |
nucho | 1:ff0ec969dad1 | 31 | virtual int deserialize(unsigned char *inbuffer) { |
nucho | 1:ff0ec969dad1 | 32 | int offset = 0; |
nucho | 1:ff0ec969dad1 | 33 | uint32_t length_key = *(uint32_t *)(inbuffer + offset); |
nucho | 1:ff0ec969dad1 | 34 | offset += 4; |
nucho | 1:ff0ec969dad1 | 35 | for (unsigned int k= offset; k< offset+length_key; ++k) { |
nucho | 1:ff0ec969dad1 | 36 | inbuffer[k-1]=inbuffer[k]; |
nucho | 1:ff0ec969dad1 | 37 | } |
nucho | 1:ff0ec969dad1 | 38 | inbuffer[offset+length_key-1]=0; |
nucho | 1:ff0ec969dad1 | 39 | this->key = (char *)(inbuffer + offset-1); |
nucho | 1:ff0ec969dad1 | 40 | offset += length_key; |
nucho | 1:ff0ec969dad1 | 41 | uint32_t length_value = *(uint32_t *)(inbuffer + offset); |
nucho | 1:ff0ec969dad1 | 42 | offset += 4; |
nucho | 1:ff0ec969dad1 | 43 | for (unsigned int k= offset; k< offset+length_value; ++k) { |
nucho | 1:ff0ec969dad1 | 44 | inbuffer[k-1]=inbuffer[k]; |
nucho | 1:ff0ec969dad1 | 45 | } |
nucho | 1:ff0ec969dad1 | 46 | inbuffer[offset+length_value-1]=0; |
nucho | 1:ff0ec969dad1 | 47 | this->value = (char *)(inbuffer + offset-1); |
nucho | 1:ff0ec969dad1 | 48 | offset += length_value; |
nucho | 1:ff0ec969dad1 | 49 | return offset; |
nucho | 0:77afd7560544 | 50 | } |
nucho | 0:77afd7560544 | 51 | |
nucho | 1:ff0ec969dad1 | 52 | virtual const char * getType() { |
nucho | 1:ff0ec969dad1 | 53 | return "diagnostic_msgs/KeyValue"; |
nucho | 1:ff0ec969dad1 | 54 | }; |
nucho | 0:77afd7560544 | 55 | |
nucho | 1:ff0ec969dad1 | 56 | }; |
nucho | 0:77afd7560544 | 57 | |
nucho | 0:77afd7560544 | 58 | } |
nucho | 0:77afd7560544 | 59 | #endif |