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/MuxSelect.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_MuxSelect_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_MuxSelect_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 MUXSELECT[] = "topic_tools/MuxSelect"; |
| nucho | 3:1cf99502f396 | 12 | |
| nucho | 3:1cf99502f396 | 13 | class MuxSelectRequest : 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 MUXSELECT; }; |
| 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 MuxSelectResponse : public ros::Msg |
| nucho | 3:1cf99502f396 | 49 | { |
| nucho | 3:1cf99502f396 | 50 | public: |
| nucho | 3:1cf99502f396 | 51 | char * prev_topic; |
| nucho | 3:1cf99502f396 | 52 | |
| nucho | 3:1cf99502f396 | 53 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 54 | { |
| nucho | 3:1cf99502f396 | 55 | int offset = 0; |
| nucho | 3:1cf99502f396 | 56 | uint32_t * length_prev_topic = (uint32_t *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 57 | *length_prev_topic = strlen( (const char*) this->prev_topic); |
| nucho | 3:1cf99502f396 | 58 | offset += 4; |
| nucho | 3:1cf99502f396 | 59 | memcpy(outbuffer + offset, this->prev_topic, *length_prev_topic); |
| nucho | 3:1cf99502f396 | 60 | offset += *length_prev_topic; |
| nucho | 3:1cf99502f396 | 61 | return offset; |
| nucho | 3:1cf99502f396 | 62 | } |
| nucho | 3:1cf99502f396 | 63 | |
| nucho | 3:1cf99502f396 | 64 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 65 | { |
| nucho | 3:1cf99502f396 | 66 | int offset = 0; |
| nucho | 3:1cf99502f396 | 67 | uint32_t length_prev_topic = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 68 | offset += 4; |
| nucho | 3:1cf99502f396 | 69 | for(unsigned int k= offset; k< offset+length_prev_topic; ++k){ |
| nucho | 3:1cf99502f396 | 70 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 71 | } |
| nucho | 3:1cf99502f396 | 72 | inbuffer[offset+length_prev_topic-1]=0; |
| nucho | 3:1cf99502f396 | 73 | this->prev_topic = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 74 | offset += length_prev_topic; |
| nucho | 3:1cf99502f396 | 75 | return offset; |
| nucho | 3:1cf99502f396 | 76 | } |
| nucho | 3:1cf99502f396 | 77 | |
| nucho | 3:1cf99502f396 | 78 | virtual const char * getType(){ return MUXSELECT; }; |
| nucho | 3:1cf99502f396 | 79 | virtual const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; }; |
| nucho | 3:1cf99502f396 | 80 | |
| nucho | 3:1cf99502f396 | 81 | }; |
| nucho | 3:1cf99502f396 | 82 | |
| nucho | 3:1cf99502f396 | 83 | class MuxSelect { |
| nucho | 3:1cf99502f396 | 84 | public: |
| nucho | 3:1cf99502f396 | 85 | typedef MuxSelectRequest Request; |
| nucho | 3:1cf99502f396 | 86 | typedef MuxSelectResponse Response; |
| nucho | 3:1cf99502f396 | 87 | }; |
| nucho | 3:1cf99502f396 | 88 | |
| nucho | 3:1cf99502f396 | 89 | } |
| nucho | 3:1cf99502f396 | 90 | #endif |