jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

topic_tools/MuxList.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_MuxList_h
jjzak 6:3c54bc7badd4 2 #define _ROS_SERVICE_MuxList_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 topic_tools
jjzak 6:3c54bc7badd4 9 {
jjzak 6:3c54bc7badd4 10
jjzak 6:3c54bc7badd4 11 static const char MUXLIST[] = "topic_tools/MuxList";
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class MuxListRequest : 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 MUXLIST; };
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 MuxListResponse : public ros::Msg
jjzak 6:3c54bc7badd4 35 {
jjzak 6:3c54bc7badd4 36 public:
jjzak 6:3c54bc7badd4 37 uint8_t topics_length;
jjzak 6:3c54bc7badd4 38 char* st_topics;
jjzak 6:3c54bc7badd4 39 char* * topics;
jjzak 6:3c54bc7badd4 40
jjzak 6:3c54bc7badd4 41 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 42 {
jjzak 6:3c54bc7badd4 43 int offset = 0;
jjzak 6:3c54bc7badd4 44 *(outbuffer + offset++) = topics_length;
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 46 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 47 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 48 for( uint8_t i = 0; i < topics_length; i++){
jjzak 6:3c54bc7badd4 49 uint32_t length_topicsi = strlen( (const char*) this->topics[i]);
jjzak 6:3c54bc7badd4 50 memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 51 offset += 4;
jjzak 6:3c54bc7badd4 52 memcpy(outbuffer + offset, this->topics[i], length_topicsi);
jjzak 6:3c54bc7badd4 53 offset += length_topicsi;
jjzak 6:3c54bc7badd4 54 }
jjzak 6:3c54bc7badd4 55 return offset;
jjzak 6:3c54bc7badd4 56 }
jjzak 6:3c54bc7badd4 57
jjzak 6:3c54bc7badd4 58 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 59 {
jjzak 6:3c54bc7badd4 60 int offset = 0;
jjzak 6:3c54bc7badd4 61 uint8_t topics_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 62 if(topics_lengthT > topics_length)
jjzak 6:3c54bc7badd4 63 this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
jjzak 6:3c54bc7badd4 64 offset += 3;
jjzak 6:3c54bc7badd4 65 topics_length = topics_lengthT;
jjzak 6:3c54bc7badd4 66 for( uint8_t i = 0; i < topics_length; i++){
jjzak 6:3c54bc7badd4 67 uint32_t length_st_topics;
jjzak 6:3c54bc7badd4 68 memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 69 offset += 4;
jjzak 6:3c54bc7badd4 70 for(unsigned int k= offset; k< offset+length_st_topics; ++k){
jjzak 6:3c54bc7badd4 71 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 72 }
jjzak 6:3c54bc7badd4 73 inbuffer[offset+length_st_topics-1]=0;
jjzak 6:3c54bc7badd4 74 this->st_topics = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 75 offset += length_st_topics;
jjzak 6:3c54bc7badd4 76 memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
jjzak 6:3c54bc7badd4 77 }
jjzak 6:3c54bc7badd4 78 return offset;
jjzak 6:3c54bc7badd4 79 }
jjzak 6:3c54bc7badd4 80
jjzak 6:3c54bc7badd4 81 const char * getType(){ return MUXLIST; };
jjzak 6:3c54bc7badd4 82 const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
jjzak 6:3c54bc7badd4 83
jjzak 6:3c54bc7badd4 84 };
jjzak 6:3c54bc7badd4 85
jjzak 6:3c54bc7badd4 86 class MuxList {
jjzak 6:3c54bc7badd4 87 public:
jjzak 6:3c54bc7badd4 88 typedef MuxListRequest Request;
jjzak 6:3c54bc7badd4 89 typedef MuxListResponse Response;
jjzak 6:3c54bc7badd4 90 };
jjzak 6:3c54bc7badd4 91
jjzak 6:3c54bc7badd4 92 }
jjzak 6:3c54bc7badd4 93 #endif
jjzak 6:3c54bc7badd4 94