Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

tf/FrameGraph.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_FrameGraph_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_FrameGraph_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace tf
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class FrameGraphRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 FrameGraphRequest()
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 }
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 int offset = 0;
garyservin 0:9e9b7db60fd5 24 return offset;
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 return offset;
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 const char * getType(){ return FRAMEGRAPH; };
garyservin 0:9e9b7db60fd5 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 class FrameGraphResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 typedef const char* _dot_graph_type;
garyservin 0:9e9b7db60fd5 42 _dot_graph_type dot_graph;
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 FrameGraphResponse():
garyservin 0:9e9b7db60fd5 45 dot_graph("")
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 }
garyservin 0:9e9b7db60fd5 48
garyservin 0:9e9b7db60fd5 49 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 50 {
garyservin 0:9e9b7db60fd5 51 int offset = 0;
garyservin 0:9e9b7db60fd5 52 uint32_t length_dot_graph = strlen(this->dot_graph);
garyservin 0:9e9b7db60fd5 53 varToArr(outbuffer + offset, length_dot_graph);
garyservin 0:9e9b7db60fd5 54 offset += 4;
garyservin 0:9e9b7db60fd5 55 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
garyservin 0:9e9b7db60fd5 56 offset += length_dot_graph;
garyservin 0:9e9b7db60fd5 57 return offset;
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 61 {
garyservin 0:9e9b7db60fd5 62 int offset = 0;
garyservin 0:9e9b7db60fd5 63 uint32_t length_dot_graph;
garyservin 0:9e9b7db60fd5 64 arrToVar(length_dot_graph, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 65 offset += 4;
garyservin 0:9e9b7db60fd5 66 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
garyservin 0:9e9b7db60fd5 67 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69 inbuffer[offset+length_dot_graph-1]=0;
garyservin 0:9e9b7db60fd5 70 this->dot_graph = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 71 offset += length_dot_graph;
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 const char * getType(){ return FRAMEGRAPH; };
garyservin 0:9e9b7db60fd5 76 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 };
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 class FrameGraph {
garyservin 0:9e9b7db60fd5 81 public:
garyservin 0:9e9b7db60fd5 82 typedef FrameGraphRequest Request;
garyservin 0:9e9b7db60fd5 83 typedef FrameGraphResponse Response;
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 #endif