jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

tf/FrameGraph.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?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_SERVICE_FrameGraph_h
jjzak 6:3c54bc7badd4 2 #define _ROS_SERVICE_FrameGraph_h
jjzak 6:3c54bc7badd4 3 #include <stdint.h>
jjzak 6:3c54bc7badd4 4 #include <string.h>
jjzak 6:3c54bc7badd4 5 #include <stdlib.h>
jjzak 6:3c54bc7badd4 6 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 7
jjzak 6:3c54bc7badd4 8 namespace tf
jjzak 6:3c54bc7badd4 9 {
jjzak 6:3c54bc7badd4 10
jjzak 6:3c54bc7badd4 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class FrameGraphRequest : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16
jjzak 6:3c54bc7badd4 17 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 18 {
jjzak 6:3c54bc7badd4 19 int offset = 0;
jjzak 6:3c54bc7badd4 20 return offset;
jjzak 6:3c54bc7badd4 21 }
jjzak 6:3c54bc7badd4 22
jjzak 6:3c54bc7badd4 23 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 24 {
jjzak 6:3c54bc7badd4 25 int offset = 0;
jjzak 6:3c54bc7badd4 26 return offset;
jjzak 6:3c54bc7badd4 27 }
jjzak 6:3c54bc7badd4 28
jjzak 6:3c54bc7badd4 29 const char * getType(){ return FRAMEGRAPH; };
jjzak 6:3c54bc7badd4 30 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
jjzak 6:3c54bc7badd4 31
jjzak 6:3c54bc7badd4 32 };
jjzak 6:3c54bc7badd4 33
jjzak 6:3c54bc7badd4 34 class FrameGraphResponse : public ros::Msg
jjzak 6:3c54bc7badd4 35 {
jjzak 6:3c54bc7badd4 36 public:
jjzak 6:3c54bc7badd4 37 char * dot_graph;
jjzak 6:3c54bc7badd4 38
jjzak 6:3c54bc7badd4 39 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 40 {
jjzak 6:3c54bc7badd4 41 int offset = 0;
jjzak 6:3c54bc7badd4 42 uint32_t length_dot_graph = strlen( (const char*) this->dot_graph);
jjzak 6:3c54bc7badd4 43 memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 44 offset += 4;
jjzak 6:3c54bc7badd4 45 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
jjzak 6:3c54bc7badd4 46 offset += length_dot_graph;
jjzak 6:3c54bc7badd4 47 return offset;
jjzak 6:3c54bc7badd4 48 }
jjzak 6:3c54bc7badd4 49
jjzak 6:3c54bc7badd4 50 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 51 {
jjzak 6:3c54bc7badd4 52 int offset = 0;
jjzak 6:3c54bc7badd4 53 uint32_t length_dot_graph;
jjzak 6:3c54bc7badd4 54 memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 55 offset += 4;
jjzak 6:3c54bc7badd4 56 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
jjzak 6:3c54bc7badd4 57 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 58 }
jjzak 6:3c54bc7badd4 59 inbuffer[offset+length_dot_graph-1]=0;
jjzak 6:3c54bc7badd4 60 this->dot_graph = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 61 offset += length_dot_graph;
jjzak 6:3c54bc7badd4 62 return offset;
jjzak 6:3c54bc7badd4 63 }
jjzak 6:3c54bc7badd4 64
jjzak 6:3c54bc7badd4 65 const char * getType(){ return FRAMEGRAPH; };
jjzak 6:3c54bc7badd4 66 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
jjzak 6:3c54bc7badd4 67
jjzak 6:3c54bc7badd4 68 };
jjzak 6:3c54bc7badd4 69
jjzak 6:3c54bc7badd4 70 class FrameGraph {
jjzak 6:3c54bc7badd4 71 public:
jjzak 6:3c54bc7badd4 72 typedef FrameGraphRequest Request;
jjzak 6:3c54bc7badd4 73 typedef FrameGraphResponse Response;
jjzak 6:3c54bc7badd4 74 };
jjzak 6:3c54bc7badd4 75
jjzak 6:3c54bc7badd4 76 }
jjzak 6:3c54bc7badd4 77 #endif
jjzak 6:3c54bc7badd4 78