Jesus Fausto / ros_lib_kinetic3

Increased buffer size

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

rospy_tutorials/HeaderString.h@2:2e7b61982dd2, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:52:23 2018 +0000
Revision:
2:2e7b61982dd2
Parent:
0:9e9b7db60fd5 
Working towards recieving twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_rospy_tutorials_HeaderString_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rospy_tutorials_HeaderString_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace rospy_tutorials
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class HeaderString : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef const char* _data_type;
garyservin 0:9e9b7db60fd5 19 _data_type data;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 HeaderString():
garyservin 0:9e9b7db60fd5 22 header(),
garyservin 0:9e9b7db60fd5 23 data("")
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 31 uint32_t length_data = strlen(this->data);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_data);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->data, length_data);
garyservin 0:9e9b7db60fd5 35 offset += length_data;
garyservin 0:9e9b7db60fd5 36 return offset;
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 43 uint32_t length_data;
garyservin 0:9e9b7db60fd5 44 arrToVar(length_data, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 for(unsigned int k= offset; k< offset+length_data; ++k){
garyservin 0:9e9b7db60fd5 47 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49 inbuffer[offset+length_data-1]=0;
garyservin 0:9e9b7db60fd5 50 this->data = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 51 offset += length_data;
garyservin 0:9e9b7db60fd5 52 return offset;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 const char * getType(){ return "rospy_tutorials/HeaderString"; };
garyservin 0:9e9b7db60fd5 56 const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 };
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 #endif