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
Diff: topic_tools/MuxList.h
- Revision:
- 3:1cf99502f396
diff -r bb6bb835fde4 -r 1cf99502f396 topic_tools/MuxList.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/topic_tools/MuxList.h Sat Nov 12 23:54:45 2011 +0000 @@ -0,0 +1,92 @@ +#ifndef _ROS_SERVICE_MuxList_h +#define _ROS_SERVICE_MuxList_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace topic_tools +{ + +static const char MUXLIST[] = "topic_tools/MuxList"; + + class MuxListRequest : public ros::Msg + { + public: + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + virtual const char * getType(){ return MUXLIST; }; + virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; + + }; + + class MuxListResponse : public ros::Msg + { + public: + uint8_t topics_length; + char* st_topics; + char* * topics; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset++) = topics_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( uint8_t i = 0; i < topics_length; i++){ + uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset); + *length_topicsi = strlen( (const char*) this->topics[i]); + offset += 4; + memcpy(outbuffer + offset, this->topics[i], *length_topicsi); + offset += *length_topicsi; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint8_t topics_lengthT = *(inbuffer + offset++); + if(topics_lengthT > topics_length) + this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); + offset += 3; + topics_length = topics_lengthT; + for( uint8_t i = 0; i < topics_length; i++){ + uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_topics; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_topics-1]=0; + this->st_topics = (char *)(inbuffer + offset-1); + offset += length_st_topics; + memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); + } + return offset; + } + + virtual const char * getType(){ return MUXLIST; }; + virtual const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; + + }; + + class MuxList { + public: + typedef MuxListRequest Request; + typedef MuxListResponse Response; + }; + +} +#endif \ No newline at end of file