nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
rosserial_msgs/RequestParam.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_SERVICE_RequestParam_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_RequestParam_h |
| nucho | 0:77afd7560544 | 3 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 4 | #include <string.h> |
| nucho | 0:77afd7560544 | 5 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 6 | #include "ros/msg.h" |
| nucho | 0:77afd7560544 | 7 | |
| nucho | 0:77afd7560544 | 8 | namespace rosserial_msgs |
| nucho | 0:77afd7560544 | 9 | { |
| nucho | 0:77afd7560544 | 10 | |
| nucho | 0:77afd7560544 | 11 | static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam"; |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | class RequestParamRequest : public ros::Msg |
| nucho | 0:77afd7560544 | 14 | { |
| nucho | 0:77afd7560544 | 15 | public: |
| nucho | 0:77afd7560544 | 16 | char * name; |
| nucho | 0:77afd7560544 | 17 | |
| nucho | 3:1cf99502f396 | 18 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 19 | { |
| nucho | 0:77afd7560544 | 20 | int offset = 0; |
| nucho | 3:1cf99502f396 | 21 | uint32_t * length_name = (uint32_t *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 22 | *length_name = strlen( (const char*) this->name); |
| nucho | 0:77afd7560544 | 23 | offset += 4; |
| nucho | 0:77afd7560544 | 24 | memcpy(outbuffer + offset, this->name, *length_name); |
| nucho | 0:77afd7560544 | 25 | offset += *length_name; |
| nucho | 0:77afd7560544 | 26 | return offset; |
| nucho | 0:77afd7560544 | 27 | } |
| nucho | 0:77afd7560544 | 28 | |
| nucho | 0:77afd7560544 | 29 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 30 | { |
| nucho | 0:77afd7560544 | 31 | int offset = 0; |
| nucho | 0:77afd7560544 | 32 | uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 33 | offset += 4; |
| nucho | 0:77afd7560544 | 34 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
| nucho | 0:77afd7560544 | 35 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 36 | } |
| nucho | 0:77afd7560544 | 37 | inbuffer[offset+length_name-1]=0; |
| nucho | 0:77afd7560544 | 38 | this->name = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 39 | offset += length_name; |
| nucho | 0:77afd7560544 | 40 | return offset; |
| nucho | 0:77afd7560544 | 41 | } |
| nucho | 0:77afd7560544 | 42 | |
| nucho | 0:77afd7560544 | 43 | virtual const char * getType(){ return REQUESTPARAM; }; |
| nucho | 3:1cf99502f396 | 44 | virtual const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; |
| nucho | 0:77afd7560544 | 45 | |
| nucho | 0:77afd7560544 | 46 | }; |
| nucho | 0:77afd7560544 | 47 | |
| nucho | 0:77afd7560544 | 48 | class RequestParamResponse : public ros::Msg |
| nucho | 0:77afd7560544 | 49 | { |
| nucho | 0:77afd7560544 | 50 | public: |
| nucho | 3:1cf99502f396 | 51 | uint8_t ints_length; |
| nucho | 3:1cf99502f396 | 52 | int32_t st_ints; |
| nucho | 3:1cf99502f396 | 53 | int32_t * ints; |
| nucho | 3:1cf99502f396 | 54 | uint8_t floats_length; |
| nucho | 0:77afd7560544 | 55 | float st_floats; |
| nucho | 0:77afd7560544 | 56 | float * floats; |
| nucho | 3:1cf99502f396 | 57 | uint8_t strings_length; |
| nucho | 0:77afd7560544 | 58 | char* st_strings; |
| nucho | 0:77afd7560544 | 59 | char* * strings; |
| nucho | 0:77afd7560544 | 60 | |
| nucho | 3:1cf99502f396 | 61 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 62 | { |
| nucho | 0:77afd7560544 | 63 | int offset = 0; |
| nucho | 0:77afd7560544 | 64 | *(outbuffer + offset++) = ints_length; |
| nucho | 0:77afd7560544 | 65 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 66 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 67 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 68 | for( uint8_t i = 0; i < ints_length; i++){ |
| nucho | 0:77afd7560544 | 69 | union { |
| nucho | 3:1cf99502f396 | 70 | int32_t real; |
| nucho | 3:1cf99502f396 | 71 | uint32_t base; |
| nucho | 0:77afd7560544 | 72 | } u_intsi; |
| nucho | 0:77afd7560544 | 73 | u_intsi.real = this->ints[i]; |
| nucho | 0:77afd7560544 | 74 | *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 75 | *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 76 | *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 77 | *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 78 | offset += sizeof(this->ints[i]); |
| nucho | 0:77afd7560544 | 79 | } |
| nucho | 0:77afd7560544 | 80 | *(outbuffer + offset++) = floats_length; |
| nucho | 0:77afd7560544 | 81 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 82 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 83 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 84 | for( uint8_t i = 0; i < floats_length; i++){ |
| nucho | 0:77afd7560544 | 85 | union { |
| nucho | 0:77afd7560544 | 86 | float real; |
| nucho | 3:1cf99502f396 | 87 | uint32_t base; |
| nucho | 0:77afd7560544 | 88 | } u_floatsi; |
| nucho | 0:77afd7560544 | 89 | u_floatsi.real = this->floats[i]; |
| nucho | 0:77afd7560544 | 90 | *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 91 | *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 92 | *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 93 | *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 94 | offset += sizeof(this->floats[i]); |
| nucho | 0:77afd7560544 | 95 | } |
| nucho | 0:77afd7560544 | 96 | *(outbuffer + offset++) = strings_length; |
| nucho | 0:77afd7560544 | 97 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 98 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 99 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 100 | for( uint8_t i = 0; i < strings_length; i++){ |
| nucho | 3:1cf99502f396 | 101 | uint32_t * length_stringsi = (uint32_t *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 102 | *length_stringsi = strlen( (const char*) this->strings[i]); |
| nucho | 0:77afd7560544 | 103 | offset += 4; |
| nucho | 0:77afd7560544 | 104 | memcpy(outbuffer + offset, this->strings[i], *length_stringsi); |
| nucho | 0:77afd7560544 | 105 | offset += *length_stringsi; |
| nucho | 0:77afd7560544 | 106 | } |
| nucho | 0:77afd7560544 | 107 | return offset; |
| nucho | 0:77afd7560544 | 108 | } |
| nucho | 0:77afd7560544 | 109 | |
| nucho | 0:77afd7560544 | 110 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 111 | { |
| nucho | 0:77afd7560544 | 112 | int offset = 0; |
| nucho | 3:1cf99502f396 | 113 | uint8_t ints_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 114 | if(ints_lengthT > ints_length) |
| nucho | 3:1cf99502f396 | 115 | this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t)); |
| nucho | 0:77afd7560544 | 116 | offset += 3; |
| nucho | 0:77afd7560544 | 117 | ints_length = ints_lengthT; |
| nucho | 3:1cf99502f396 | 118 | for( uint8_t i = 0; i < ints_length; i++){ |
| nucho | 0:77afd7560544 | 119 | union { |
| nucho | 3:1cf99502f396 | 120 | int32_t real; |
| nucho | 3:1cf99502f396 | 121 | uint32_t base; |
| nucho | 0:77afd7560544 | 122 | } u_st_ints; |
| nucho | 0:77afd7560544 | 123 | u_st_ints.base = 0; |
| nucho | 3:1cf99502f396 | 124 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 3:1cf99502f396 | 125 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 126 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 127 | u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 128 | this->st_ints = u_st_ints.real; |
| nucho | 0:77afd7560544 | 129 | offset += sizeof(this->st_ints); |
| nucho | 3:1cf99502f396 | 130 | memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t)); |
| nucho | 0:77afd7560544 | 131 | } |
| nucho | 3:1cf99502f396 | 132 | uint8_t floats_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 133 | if(floats_lengthT > floats_length) |
| nucho | 0:77afd7560544 | 134 | this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float)); |
| nucho | 0:77afd7560544 | 135 | offset += 3; |
| nucho | 0:77afd7560544 | 136 | floats_length = floats_lengthT; |
| nucho | 3:1cf99502f396 | 137 | for( uint8_t i = 0; i < floats_length; i++){ |
| nucho | 0:77afd7560544 | 138 | union { |
| nucho | 0:77afd7560544 | 139 | float real; |
| nucho | 3:1cf99502f396 | 140 | uint32_t base; |
| nucho | 0:77afd7560544 | 141 | } u_st_floats; |
| nucho | 0:77afd7560544 | 142 | u_st_floats.base = 0; |
| nucho | 3:1cf99502f396 | 143 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 3:1cf99502f396 | 144 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 145 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 146 | u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 147 | this->st_floats = u_st_floats.real; |
| nucho | 0:77afd7560544 | 148 | offset += sizeof(this->st_floats); |
| nucho | 0:77afd7560544 | 149 | memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float)); |
| nucho | 0:77afd7560544 | 150 | } |
| nucho | 3:1cf99502f396 | 151 | uint8_t strings_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 152 | if(strings_lengthT > strings_length) |
| nucho | 0:77afd7560544 | 153 | this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*)); |
| nucho | 0:77afd7560544 | 154 | offset += 3; |
| nucho | 0:77afd7560544 | 155 | strings_length = strings_lengthT; |
| nucho | 3:1cf99502f396 | 156 | for( uint8_t i = 0; i < strings_length; i++){ |
| nucho | 0:77afd7560544 | 157 | uint32_t length_st_strings = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 158 | offset += 4; |
| nucho | 0:77afd7560544 | 159 | for(unsigned int k= offset; k< offset+length_st_strings; ++k){ |
| nucho | 0:77afd7560544 | 160 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 161 | } |
| nucho | 0:77afd7560544 | 162 | inbuffer[offset+length_st_strings-1]=0; |
| nucho | 0:77afd7560544 | 163 | this->st_strings = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 164 | offset += length_st_strings; |
| nucho | 0:77afd7560544 | 165 | memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*)); |
| nucho | 0:77afd7560544 | 166 | } |
| nucho | 0:77afd7560544 | 167 | return offset; |
| nucho | 0:77afd7560544 | 168 | } |
| nucho | 0:77afd7560544 | 169 | |
| nucho | 3:1cf99502f396 | 170 | virtual const char * getType(){ return REQUESTPARAM; }; |
| nucho | 3:1cf99502f396 | 171 | virtual const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; }; |
| nucho | 3:1cf99502f396 | 172 | |
| nucho | 3:1cf99502f396 | 173 | }; |
| nucho | 0:77afd7560544 | 174 | |
| nucho | 3:1cf99502f396 | 175 | class RequestParam { |
| nucho | 3:1cf99502f396 | 176 | public: |
| nucho | 3:1cf99502f396 | 177 | typedef RequestParamRequest Request; |
| nucho | 3:1cf99502f396 | 178 | typedef RequestParamResponse Response; |
| nucho | 0:77afd7560544 | 179 | }; |
| nucho | 0:77afd7560544 | 180 | |
| nucho | 0:77afd7560544 | 181 | } |
| nucho | 0:77afd7560544 | 182 | #endif |