modify for Hydro version
Fork of rosserial_mbed_lib by
roscpp/Logger.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_roscpp_Logger_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_roscpp_Logger_h |
jjzak | 6:3c54bc7badd4 | 3 | |
jjzak | 6:3c54bc7badd4 | 4 | #include <stdint.h> |
jjzak | 6:3c54bc7badd4 | 5 | #include <string.h> |
jjzak | 6:3c54bc7badd4 | 6 | #include <stdlib.h> |
jjzak | 6:3c54bc7badd4 | 7 | #include "ros/msg.h" |
jjzak | 6:3c54bc7badd4 | 8 | |
jjzak | 6:3c54bc7badd4 | 9 | namespace roscpp |
jjzak | 6:3c54bc7badd4 | 10 | { |
jjzak | 6:3c54bc7badd4 | 11 | |
jjzak | 6:3c54bc7badd4 | 12 | class Logger : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 13 | { |
jjzak | 6:3c54bc7badd4 | 14 | public: |
jjzak | 6:3c54bc7badd4 | 15 | char * name; |
jjzak | 6:3c54bc7badd4 | 16 | char * level; |
jjzak | 6:3c54bc7badd4 | 17 | |
jjzak | 6:3c54bc7badd4 | 18 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 19 | { |
jjzak | 6:3c54bc7badd4 | 20 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 21 | uint32_t length_name = strlen( (const char*) this->name); |
jjzak | 6:3c54bc7badd4 | 22 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 23 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 24 | memcpy(outbuffer + offset, this->name, length_name); |
jjzak | 6:3c54bc7badd4 | 25 | offset += length_name; |
jjzak | 6:3c54bc7badd4 | 26 | uint32_t length_level = strlen( (const char*) this->level); |
jjzak | 6:3c54bc7badd4 | 27 | memcpy(outbuffer + offset, &length_level, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 28 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 29 | memcpy(outbuffer + offset, this->level, length_level); |
jjzak | 6:3c54bc7badd4 | 30 | offset += length_level; |
jjzak | 6:3c54bc7badd4 | 31 | return offset; |
jjzak | 6:3c54bc7badd4 | 32 | } |
jjzak | 6:3c54bc7badd4 | 33 | |
jjzak | 6:3c54bc7badd4 | 34 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 35 | { |
jjzak | 6:3c54bc7badd4 | 36 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 37 | uint32_t length_name; |
jjzak | 6:3c54bc7badd4 | 38 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 39 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 40 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
jjzak | 6:3c54bc7badd4 | 41 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 42 | } |
jjzak | 6:3c54bc7badd4 | 43 | inbuffer[offset+length_name-1]=0; |
jjzak | 6:3c54bc7badd4 | 44 | this->name = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 45 | offset += length_name; |
jjzak | 6:3c54bc7badd4 | 46 | uint32_t length_level; |
jjzak | 6:3c54bc7badd4 | 47 | memcpy(&length_level, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 48 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 49 | for(unsigned int k= offset; k< offset+length_level; ++k){ |
jjzak | 6:3c54bc7badd4 | 50 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 51 | } |
jjzak | 6:3c54bc7badd4 | 52 | inbuffer[offset+length_level-1]=0; |
jjzak | 6:3c54bc7badd4 | 53 | this->level = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 54 | offset += length_level; |
jjzak | 6:3c54bc7badd4 | 55 | return offset; |
jjzak | 6:3c54bc7badd4 | 56 | } |
jjzak | 6:3c54bc7badd4 | 57 | |
jjzak | 6:3c54bc7badd4 | 58 | const char * getType(){ return "roscpp/Logger"; }; |
jjzak | 6:3c54bc7badd4 | 59 | const char * getMD5(){ return "a6069a2ff40db7bd32143dd66e1f408e"; }; |
jjzak | 6:3c54bc7badd4 | 60 | |
jjzak | 6:3c54bc7badd4 | 61 | }; |
jjzak | 6:3c54bc7badd4 | 62 | |
jjzak | 6:3c54bc7badd4 | 63 | } |
jjzak | 6:3c54bc7badd4 | 64 | #endif |