nucho
/
rosserial_mbed
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Dependencies: rosserial_mbed_lib mbed Servo
rosserial_msgs/Log.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_Log_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_Log_h |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | #include <stdint.h> |
| nucho | 0:06fc856e99ca | 5 | #include <string.h> |
| nucho | 0:06fc856e99ca | 6 | #include <stdlib.h> |
| nucho | 0:06fc856e99ca | 7 | #include "../ros/msg.h" |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | namespace rosserial_msgs |
| nucho | 0:06fc856e99ca | 10 | { |
| nucho | 0:06fc856e99ca | 11 | |
| nucho | 0:06fc856e99ca | 12 | class Log : public ros::Msg |
| nucho | 0:06fc856e99ca | 13 | { |
| nucho | 0:06fc856e99ca | 14 | public: |
| nucho | 0:06fc856e99ca | 15 | unsigned char level; |
| nucho | 0:06fc856e99ca | 16 | char * msg; |
| nucho | 0:06fc856e99ca | 17 | enum { DEBUG = 0 }; |
| nucho | 0:06fc856e99ca | 18 | enum { INFO = 1 }; |
| nucho | 0:06fc856e99ca | 19 | enum { WARN = 2 }; |
| nucho | 0:06fc856e99ca | 20 | enum { ERROR = 3 }; |
| nucho | 0:06fc856e99ca | 21 | enum { FATAL = 4 }; |
| nucho | 0:06fc856e99ca | 22 | |
| nucho | 0:06fc856e99ca | 23 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 24 | { |
| nucho | 0:06fc856e99ca | 25 | int offset = 0; |
| nucho | 0:06fc856e99ca | 26 | union { |
| nucho | 0:06fc856e99ca | 27 | unsigned char real; |
| nucho | 0:06fc856e99ca | 28 | unsigned char base; |
| nucho | 0:06fc856e99ca | 29 | } u_level; |
| nucho | 0:06fc856e99ca | 30 | u_level.real = this->level; |
| nucho | 0:06fc856e99ca | 31 | *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 32 | offset += sizeof(this->level); |
| nucho | 0:06fc856e99ca | 33 | long * length_msg = (long *)(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 34 | *length_msg = strlen( (const char*) this->msg); |
| nucho | 0:06fc856e99ca | 35 | offset += 4; |
| nucho | 0:06fc856e99ca | 36 | memcpy(outbuffer + offset, this->msg, *length_msg); |
| nucho | 0:06fc856e99ca | 37 | offset += *length_msg; |
| nucho | 0:06fc856e99ca | 38 | return offset; |
| nucho | 0:06fc856e99ca | 39 | } |
| nucho | 0:06fc856e99ca | 40 | |
| nucho | 0:06fc856e99ca | 41 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 42 | { |
| nucho | 0:06fc856e99ca | 43 | int offset = 0; |
| nucho | 0:06fc856e99ca | 44 | union { |
| nucho | 0:06fc856e99ca | 45 | unsigned char real; |
| nucho | 0:06fc856e99ca | 46 | unsigned char base; |
| nucho | 0:06fc856e99ca | 47 | } u_level; |
| nucho | 0:06fc856e99ca | 48 | u_level.base = 0; |
| nucho | 0:06fc856e99ca | 49 | u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 50 | this->level = u_level.real; |
| nucho | 0:06fc856e99ca | 51 | offset += sizeof(this->level); |
| nucho | 0:06fc856e99ca | 52 | uint32_t length_msg = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 53 | offset += 4; |
| nucho | 0:06fc856e99ca | 54 | for(unsigned int k= offset; k< offset+length_msg; ++k){ |
| nucho | 0:06fc856e99ca | 55 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:06fc856e99ca | 56 | } |
| nucho | 0:06fc856e99ca | 57 | inbuffer[offset+length_msg-1]=0; |
| nucho | 0:06fc856e99ca | 58 | this->msg = (char *)(inbuffer + offset-1); |
| nucho | 0:06fc856e99ca | 59 | offset += length_msg; |
| nucho | 0:06fc856e99ca | 60 | return offset; |
| nucho | 0:06fc856e99ca | 61 | } |
| nucho | 0:06fc856e99ca | 62 | |
| nucho | 0:06fc856e99ca | 63 | virtual const char * getType(){ return "rosserial_msgs/Log"; }; |
| nucho | 0:06fc856e99ca | 64 | |
| nucho | 0:06fc856e99ca | 65 | }; |
| nucho | 0:06fc856e99ca | 66 | |
| nucho | 0:06fc856e99ca | 67 | } |
| nucho | 0:06fc856e99ca | 68 | #endif |