modify for Hydro version
Fork of rosserial_mbed_lib by
tf/FrameGraph.h
- Committer:
- jjzak
- Date:
- 2013-10-26
- Revision:
- 6:3c54bc7badd4
File content as of revision 6:3c54bc7badd4:
#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: 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: char * dot_graph; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_dot_graph = strlen( (const char*) this->dot_graph); memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t)); 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; memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t)); 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