modify for Hydro version
Fork of rosserial_mbed_lib by
topic_tools/MuxSelect.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_SERVICE_MuxSelect_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_SERVICE_MuxSelect_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 MUXSELECT[] = "topic_tools/MuxSelect"; |
jjzak | 6:3c54bc7badd4 | 12 | |
jjzak | 6:3c54bc7badd4 | 13 | class MuxSelectRequest : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 14 | { |
jjzak | 6:3c54bc7badd4 | 15 | public: |
jjzak | 6:3c54bc7badd4 | 16 | char * topic; |
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_topic = strlen( (const char*) this->topic); |
jjzak | 6:3c54bc7badd4 | 22 | memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 23 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 24 | memcpy(outbuffer + offset, this->topic, length_topic); |
jjzak | 6:3c54bc7badd4 | 25 | offset += length_topic; |
jjzak | 6:3c54bc7badd4 | 26 | return offset; |
jjzak | 6:3c54bc7badd4 | 27 | } |
jjzak | 6:3c54bc7badd4 | 28 | |
jjzak | 6:3c54bc7badd4 | 29 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 30 | { |
jjzak | 6:3c54bc7badd4 | 31 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 32 | uint32_t length_topic; |
jjzak | 6:3c54bc7badd4 | 33 | memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 34 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 35 | for(unsigned int k= offset; k< offset+length_topic; ++k){ |
jjzak | 6:3c54bc7badd4 | 36 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 37 | } |
jjzak | 6:3c54bc7badd4 | 38 | inbuffer[offset+length_topic-1]=0; |
jjzak | 6:3c54bc7badd4 | 39 | this->topic = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 40 | offset += length_topic; |
jjzak | 6:3c54bc7badd4 | 41 | return offset; |
jjzak | 6:3c54bc7badd4 | 42 | } |
jjzak | 6:3c54bc7badd4 | 43 | |
jjzak | 6:3c54bc7badd4 | 44 | const char * getType(){ return MUXSELECT; }; |
jjzak | 6:3c54bc7badd4 | 45 | const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; }; |
jjzak | 6:3c54bc7badd4 | 46 | |
jjzak | 6:3c54bc7badd4 | 47 | }; |
jjzak | 6:3c54bc7badd4 | 48 | |
jjzak | 6:3c54bc7badd4 | 49 | class MuxSelectResponse : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 50 | { |
jjzak | 6:3c54bc7badd4 | 51 | public: |
jjzak | 6:3c54bc7badd4 | 52 | char * prev_topic; |
jjzak | 6:3c54bc7badd4 | 53 | |
jjzak | 6:3c54bc7badd4 | 54 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 55 | { |
jjzak | 6:3c54bc7badd4 | 56 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 57 | uint32_t length_prev_topic = strlen( (const char*) this->prev_topic); |
jjzak | 6:3c54bc7badd4 | 58 | memcpy(outbuffer + offset, &length_prev_topic, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 59 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 60 | memcpy(outbuffer + offset, this->prev_topic, length_prev_topic); |
jjzak | 6:3c54bc7badd4 | 61 | offset += length_prev_topic; |
jjzak | 6:3c54bc7badd4 | 62 | return offset; |
jjzak | 6:3c54bc7badd4 | 63 | } |
jjzak | 6:3c54bc7badd4 | 64 | |
jjzak | 6:3c54bc7badd4 | 65 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 66 | { |
jjzak | 6:3c54bc7badd4 | 67 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 68 | uint32_t length_prev_topic; |
jjzak | 6:3c54bc7badd4 | 69 | memcpy(&length_prev_topic, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 70 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 71 | for(unsigned int k= offset; k< offset+length_prev_topic; ++k){ |
jjzak | 6:3c54bc7badd4 | 72 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 73 | } |
jjzak | 6:3c54bc7badd4 | 74 | inbuffer[offset+length_prev_topic-1]=0; |
jjzak | 6:3c54bc7badd4 | 75 | this->prev_topic = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 76 | offset += length_prev_topic; |
jjzak | 6:3c54bc7badd4 | 77 | return offset; |
jjzak | 6:3c54bc7badd4 | 78 | } |
jjzak | 6:3c54bc7badd4 | 79 | |
jjzak | 6:3c54bc7badd4 | 80 | const char * getType(){ return MUXSELECT; }; |
jjzak | 6:3c54bc7badd4 | 81 | const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; }; |
jjzak | 6:3c54bc7badd4 | 82 | |
jjzak | 6:3c54bc7badd4 | 83 | }; |
jjzak | 6:3c54bc7badd4 | 84 | |
jjzak | 6:3c54bc7badd4 | 85 | class MuxSelect { |
jjzak | 6:3c54bc7badd4 | 86 | public: |
jjzak | 6:3c54bc7badd4 | 87 | typedef MuxSelectRequest Request; |
jjzak | 6:3c54bc7badd4 | 88 | typedef MuxSelectResponse Response; |
jjzak | 6:3c54bc7badd4 | 89 | }; |
jjzak | 6:3c54bc7badd4 | 90 | |
jjzak | 6:3c54bc7badd4 | 91 | } |
jjzak | 6:3c54bc7badd4 | 92 | #endif |
jjzak | 6:3c54bc7badd4 | 93 |