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
topic_tools/MuxAdd.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_MuxAdd_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_MuxAdd_h |
| nucho | 3:1cf99502f396 | 3 | #include <stdint.h> |
| nucho | 3:1cf99502f396 | 4 | #include <string.h> |
| nucho | 3:1cf99502f396 | 5 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 6 | #include "ros/msg.h" |
| nucho | 3:1cf99502f396 | 7 | |
| nucho | 3:1cf99502f396 | 8 | namespace topic_tools |
| nucho | 3:1cf99502f396 | 9 | { |
| nucho | 3:1cf99502f396 | 10 | |
| nucho | 3:1cf99502f396 | 11 | static const char MUXADD[] = "topic_tools/MuxAdd"; |
| nucho | 3:1cf99502f396 | 12 | |
| nucho | 3:1cf99502f396 | 13 | class MuxAddRequest : public ros::Msg |
| nucho | 3:1cf99502f396 | 14 | { |
| nucho | 3:1cf99502f396 | 15 | public: |
| nucho | 3:1cf99502f396 | 16 | char * topic; |
| nucho | 3:1cf99502f396 | 17 | |
| nucho | 3:1cf99502f396 | 18 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 19 | { |
| nucho | 3:1cf99502f396 | 20 | int offset = 0; |
| nucho | 3:1cf99502f396 | 21 | uint32_t * length_topic = (uint32_t *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 22 | *length_topic = strlen( (const char*) this->topic); |
| nucho | 3:1cf99502f396 | 23 | offset += 4; |
| nucho | 3:1cf99502f396 | 24 | memcpy(outbuffer + offset, this->topic, *length_topic); |
| nucho | 3:1cf99502f396 | 25 | offset += *length_topic; |
| nucho | 3:1cf99502f396 | 26 | return offset; |
| nucho | 3:1cf99502f396 | 27 | } |
| nucho | 3:1cf99502f396 | 28 | |
| nucho | 3:1cf99502f396 | 29 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 30 | { |
| nucho | 3:1cf99502f396 | 31 | int offset = 0; |
| nucho | 3:1cf99502f396 | 32 | uint32_t length_topic = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 33 | offset += 4; |
| nucho | 3:1cf99502f396 | 34 | for(unsigned int k= offset; k< offset+length_topic; ++k){ |
| nucho | 3:1cf99502f396 | 35 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 36 | } |
| nucho | 3:1cf99502f396 | 37 | inbuffer[offset+length_topic-1]=0; |
| nucho | 3:1cf99502f396 | 38 | this->topic = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 39 | offset += length_topic; |
| nucho | 3:1cf99502f396 | 40 | return offset; |
| nucho | 3:1cf99502f396 | 41 | } |
| nucho | 3:1cf99502f396 | 42 | |
| nucho | 3:1cf99502f396 | 43 | virtual const char * getType(){ return MUXADD; }; |
| nucho | 3:1cf99502f396 | 44 | virtual const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; }; |
| nucho | 3:1cf99502f396 | 45 | |
| nucho | 3:1cf99502f396 | 46 | }; |
| nucho | 3:1cf99502f396 | 47 | |
| nucho | 3:1cf99502f396 | 48 | class MuxAddResponse : public ros::Msg |
| nucho | 3:1cf99502f396 | 49 | { |
| nucho | 3:1cf99502f396 | 50 | public: |
| nucho | 3:1cf99502f396 | 51 | |
| nucho | 3:1cf99502f396 | 52 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 53 | { |
| nucho | 3:1cf99502f396 | 54 | int offset = 0; |
| nucho | 3:1cf99502f396 | 55 | return offset; |
| nucho | 3:1cf99502f396 | 56 | } |
| nucho | 3:1cf99502f396 | 57 | |
| nucho | 3:1cf99502f396 | 58 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 59 | { |
| nucho | 3:1cf99502f396 | 60 | int offset = 0; |
| nucho | 3:1cf99502f396 | 61 | return offset; |
| nucho | 3:1cf99502f396 | 62 | } |
| nucho | 3:1cf99502f396 | 63 | |
| nucho | 3:1cf99502f396 | 64 | virtual const char * getType(){ return MUXADD; }; |
| nucho | 3:1cf99502f396 | 65 | virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
| nucho | 3:1cf99502f396 | 66 | |
| nucho | 3:1cf99502f396 | 67 | }; |
| nucho | 3:1cf99502f396 | 68 | |
| nucho | 3:1cf99502f396 | 69 | class MuxAdd { |
| nucho | 3:1cf99502f396 | 70 | public: |
| nucho | 3:1cf99502f396 | 71 | typedef MuxAddRequest Request; |
| nucho | 3:1cf99502f396 | 72 | typedef MuxAddResponse Response; |
| nucho | 3:1cf99502f396 | 73 | }; |
| nucho | 3:1cf99502f396 | 74 | |
| nucho | 3:1cf99502f396 | 75 | } |
| nucho | 3:1cf99502f396 | 76 | #endif |