Increased buffer size
Fork of ros_lib_kinetic by
tf2_msgs/FrameGraph.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?
User | Revision | Line number | New 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 tf2_msgs |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char FRAMEGRAPH[] = "tf2_msgs/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* _frame_yaml_type; |
garyservin | 0:9e9b7db60fd5 | 42 | _frame_yaml_type frame_yaml; |
garyservin | 0:9e9b7db60fd5 | 43 | |
garyservin | 0:9e9b7db60fd5 | 44 | FrameGraphResponse(): |
garyservin | 0:9e9b7db60fd5 | 45 | frame_yaml("") |
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_frame_yaml = strlen(this->frame_yaml); |
garyservin | 0:9e9b7db60fd5 | 53 | varToArr(outbuffer + offset, length_frame_yaml); |
garyservin | 0:9e9b7db60fd5 | 54 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 55 | memcpy(outbuffer + offset, this->frame_yaml, length_frame_yaml); |
garyservin | 0:9e9b7db60fd5 | 56 | offset += length_frame_yaml; |
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_frame_yaml; |
garyservin | 0:9e9b7db60fd5 | 64 | arrToVar(length_frame_yaml, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 65 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 66 | for(unsigned int k= offset; k< offset+length_frame_yaml; ++k){ |
garyservin | 0:9e9b7db60fd5 | 67 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 68 | } |
garyservin | 0:9e9b7db60fd5 | 69 | inbuffer[offset+length_frame_yaml-1]=0; |
garyservin | 0:9e9b7db60fd5 | 70 | this->frame_yaml = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 71 | offset += length_frame_yaml; |
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 "437ea58e9463815a0d511c7326b686b0"; }; |
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 |