Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

topic_tools/MuxList.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_MuxList_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_MuxList_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 MUXLIST[] = "topic_tools/MuxList";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class MuxListRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 MuxListRequest()
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 MUXLIST; };
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 MuxListResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 uint32_t topics_length;
garyservin 0:9e9b7db60fd5 42 typedef char* _topics_type;
garyservin 0:9e9b7db60fd5 43 _topics_type st_topics;
garyservin 0:9e9b7db60fd5 44 _topics_type * topics;
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 MuxListResponse():
garyservin 0:9e9b7db60fd5 47 topics_length(0), topics(NULL)
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50
garyservin 0:9e9b7db60fd5 51 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 int offset = 0;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->topics_length);
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < topics_length; i++){
garyservin 0:9e9b7db60fd5 60 uint32_t length_topicsi = strlen(this->topics[i]);
garyservin 0:9e9b7db60fd5 61 varToArr(outbuffer + offset, length_topicsi);
garyservin 0:9e9b7db60fd5 62 offset += 4;
garyservin 0:9e9b7db60fd5 63 memcpy(outbuffer + offset, this->topics[i], length_topicsi);
garyservin 0:9e9b7db60fd5 64 offset += length_topicsi;
garyservin 0:9e9b7db60fd5 65 }
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 uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 73 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 74 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 75 topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->topics_length);
garyservin 0:9e9b7db60fd5 77 if(topics_lengthT > topics_length)
garyservin 0:9e9b7db60fd5 78 this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 79 topics_length = topics_lengthT;
garyservin 0:9e9b7db60fd5 80 for( uint32_t i = 0; i < topics_length; i++){
garyservin 0:9e9b7db60fd5 81 uint32_t length_st_topics;
garyservin 0:9e9b7db60fd5 82 arrToVar(length_st_topics, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 83 offset += 4;
garyservin 0:9e9b7db60fd5 84 for(unsigned int k= offset; k< offset+length_st_topics; ++k){
garyservin 0:9e9b7db60fd5 85 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 inbuffer[offset+length_st_topics-1]=0;
garyservin 0:9e9b7db60fd5 88 this->st_topics = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 89 offset += length_st_topics;
garyservin 0:9e9b7db60fd5 90 memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92 return offset;
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 const char * getType(){ return MUXLIST; };
garyservin 0:9e9b7db60fd5 96 const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 };
garyservin 0:9e9b7db60fd5 99
garyservin 0:9e9b7db60fd5 100 class MuxList {
garyservin 0:9e9b7db60fd5 101 public:
garyservin 0:9e9b7db60fd5 102 typedef MuxListRequest Request;
garyservin 0:9e9b7db60fd5 103 typedef MuxListResponse Response;
garyservin 0:9e9b7db60fd5 104 };
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 }
garyservin 0:9e9b7db60fd5 107 #endif