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

tf/FrameGraph.h

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

File content as of revision 2:9114cc24ddcf:

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

namespace tf
{

static const char FRAMEGRAPH[] = "tf/FrameGraph";

  class FrameGraphRequest : public ros::Msg
  {
    public:

    FrameGraphRequest()
    {
    }

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

  };

  class FrameGraphResponse : public ros::Msg
  {
    public:
      typedef const char* _dot_graph_type;
      _dot_graph_type dot_graph;

    FrameGraphResponse():
      dot_graph("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_dot_graph = strlen(this->dot_graph);
      varToArr(outbuffer + offset, length_dot_graph);
      offset += 4;
      memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
      offset += length_dot_graph;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_dot_graph;
      arrToVar(length_dot_graph, (inbuffer + offset));
      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; };
    const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };

  };

  class FrameGraph {
    public:
    typedef FrameGraphRequest Request;
    typedef FrameGraphResponse Response;
  };

}
#endif