Diff: tf/FrameGraph.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/tf/FrameGraph.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/tf/FrameGraph.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,9 +1,9 @@
-#ifndef ros_SERVICE_FrameGraph_h
-#define ros_SERVICE_FrameGraph_h
+#ifndef _ROS_SERVICE_FrameGraph_h
+#define _ROS_SERVICE_FrameGraph_h
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 
 namespace tf
 {
@@ -14,7 +14,7 @@
   {
     public:
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       return offset;
@@ -26,7 +26,8 @@
      return offset;
     }
 
-    const char * getType(){ return FRAMEGRAPH; };
+    virtual const char * getType(){ return FRAMEGRAPH; };
+    virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
 
   };
 
@@ -35,10 +36,10 @@
     public:
       char * dot_graph;
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
-      long * length_dot_graph = (long *)(outbuffer + offset);
+      uint32_t * length_dot_graph = (uint32_t *)(outbuffer + offset);
       *length_dot_graph = strlen( (const char*) this->dot_graph);
       offset += 4;
       memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph);
@@ -53,15 +54,22 @@
       offset += 4;
       for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
           inbuffer[k-1]=inbuffer[k];
-           }
+      }
       inbuffer[offset+length_dot_graph-1]=0;
       this->dot_graph = (char *)(inbuffer + offset-1);
       offset += length_dot_graph;
      return offset;
     }
 
-    const char * getType(){ return FRAMEGRAPH; };
+    virtual const char * getType(){ return FRAMEGRAPH; };
+    virtual const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
+
+  };
 
+  class FrameGraph {
+    public:
+    typedef FrameGraphRequest Request;
+    typedef FrameGraphResponse Response;
   };
 
 }