modify for Hydro version
Fork of rosserial_mbed_lib by
topic_tools/MuxList.h
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:1cf99502f396
File content as of revision 3:1cf99502f396:
#ifndef _ROS_SERVICE_MuxList_h #define _ROS_SERVICE_MuxList_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace topic_tools { static const char MUXLIST[] = "topic_tools/MuxList"; class MuxListRequest : public ros::Msg { public: virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; return offset; } virtual const char * getType(){ return MUXLIST; }; virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class MuxListResponse : public ros::Msg { public: uint8_t topics_length; char* st_topics; char* * topics; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = topics_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < topics_length; i++){ uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset); *length_topicsi = strlen( (const char*) this->topics[i]); offset += 4; memcpy(outbuffer + offset, this->topics[i], *length_topicsi); offset += *length_topicsi; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t topics_lengthT = *(inbuffer + offset++); if(topics_lengthT > topics_length) this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); offset += 3; topics_length = topics_lengthT; for( uint8_t i = 0; i < topics_length; i++){ uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_st_topics; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_topics-1]=0; this->st_topics = (char *)(inbuffer + offset-1); offset += length_st_topics; memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); } return offset; } virtual const char * getType(){ return MUXLIST; }; virtual const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; }; class MuxList { public: typedef MuxListRequest Request; typedef MuxListResponse Response; }; } #endif