Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nodelet/NodeletList.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_SERVICE_NodeletList_h
#define _ROS_SERVICE_NodeletList_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace nodelet
{

static const char NODELETLIST[] = "nodelet/NodeletList";

  class NodeletListRequest : public ros::Msg
  {
    public:

    NodeletListRequest()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
     return offset;
    }

    const char * getType(){ return NODELETLIST; };
    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };

  };

  class NodeletListResponse : public ros::Msg
  {
    public:
      uint32_t nodelets_length;
      typedef char* _nodelets_type;
      _nodelets_type st_nodelets;
      _nodelets_type * nodelets;

    NodeletListResponse():
      nodelets_length(0), nodelets(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset + 0) = (this->nodelets_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->nodelets_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->nodelets_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->nodelets_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->nodelets_length);
      for( uint32_t i = 0; i < nodelets_length; i++){
      uint32_t length_nodeletsi = strlen(this->nodelets[i]);
      varToArr(outbuffer + offset, length_nodeletsi);
      offset += 4;
      memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi);
      offset += length_nodeletsi;
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t nodelets_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->nodelets_length);
      if(nodelets_lengthT > nodelets_length)
        this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*));
      nodelets_length = nodelets_lengthT;
      for( uint32_t i = 0; i < nodelets_length; i++){
      uint32_t length_st_nodelets;
      arrToVar(length_st_nodelets, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_nodelets-1]=0;
      this->st_nodelets = (char *)(inbuffer + offset-1);
      offset += length_st_nodelets;
        memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*));
      }
     return offset;
    }

    const char * getType(){ return NODELETLIST; };
    const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; };

  };

  class NodeletList {
    public:
    typedef NodeletListRequest Request;
    typedef NodeletListResponse Response;
  };

}
#endif