Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

topic_tools/DemuxAdd.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_DemuxAdd_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_DemuxAdd_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 topic_tools
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char DEMUXADD[] = "topic_tools/DemuxAdd";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class DemuxAddRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _topic_type;
garyservin 0:9e9b7db60fd5 17 _topic_type topic;
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 DemuxAddRequest():
garyservin 0:9e9b7db60fd5 20 topic("")
garyservin 0:9e9b7db60fd5 21 {
garyservin 0:9e9b7db60fd5 22 }
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 int offset = 0;
garyservin 0:9e9b7db60fd5 27 uint32_t length_topic = strlen(this->topic);
garyservin 0:9e9b7db60fd5 28 varToArr(outbuffer + offset, length_topic);
garyservin 0:9e9b7db60fd5 29 offset += 4;
garyservin 0:9e9b7db60fd5 30 memcpy(outbuffer + offset, this->topic, length_topic);
garyservin 0:9e9b7db60fd5 31 offset += length_topic;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_topic;
garyservin 0:9e9b7db60fd5 39 arrToVar(length_topic, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 for(unsigned int k= offset; k< offset+length_topic; ++k){
garyservin 0:9e9b7db60fd5 42 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44 inbuffer[offset+length_topic-1]=0;
garyservin 0:9e9b7db60fd5 45 this->topic = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 46 offset += length_topic;
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 const char * getType(){ return DEMUXADD; };
garyservin 0:9e9b7db60fd5 51 const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 };
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 class DemuxAddResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 DemuxAddResponse()
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 int offset = 0;
garyservin 0:9e9b7db60fd5 66 return offset;
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 const char * getType(){ return DEMUXADD; };
garyservin 0:9e9b7db60fd5 76 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 };
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 class DemuxAdd {
garyservin 0:9e9b7db60fd5 81 public:
garyservin 0:9e9b7db60fd5 82 typedef DemuxAddRequest Request;
garyservin 0:9e9b7db60fd5 83 typedef DemuxAddResponse Response;
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 #endif