ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

driver_base/ConfigString.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_driver_base_ConfigString_h
garyservin 0:fd24f7ca9688 2 #define _ROS_driver_base_ConfigString_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace driver_base
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class ConfigString : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 const char* name;
garyservin 0:fd24f7ca9688 16 const char* value;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 ConfigString():
garyservin 0:fd24f7ca9688 19 name(""),
garyservin 0:fd24f7ca9688 20 value("")
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 28 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 29 offset += 4;
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 31 offset += length_name;
garyservin 0:fd24f7ca9688 32 uint32_t length_value = strlen(this->value);
garyservin 0:fd24f7ca9688 33 memcpy(outbuffer + offset, &length_value, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 34 offset += 4;
garyservin 0:fd24f7ca9688 35 memcpy(outbuffer + offset, this->value, length_value);
garyservin 0:fd24f7ca9688 36 offset += length_value;
garyservin 0:fd24f7ca9688 37 return offset;
garyservin 0:fd24f7ca9688 38 }
garyservin 0:fd24f7ca9688 39
garyservin 0:fd24f7ca9688 40 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 41 {
garyservin 0:fd24f7ca9688 42 int offset = 0;
garyservin 0:fd24f7ca9688 43 uint32_t length_name;
garyservin 0:fd24f7ca9688 44 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 45 offset += 4;
garyservin 0:fd24f7ca9688 46 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 47 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 50 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 51 offset += length_name;
garyservin 0:fd24f7ca9688 52 uint32_t length_value;
garyservin 0:fd24f7ca9688 53 memcpy(&length_value, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 54 offset += 4;
garyservin 0:fd24f7ca9688 55 for(unsigned int k= offset; k< offset+length_value; ++k){
garyservin 0:fd24f7ca9688 56 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 57 }
garyservin 0:fd24f7ca9688 58 inbuffer[offset+length_value-1]=0;
garyservin 0:fd24f7ca9688 59 this->value = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 60 offset += length_value;
garyservin 0:fd24f7ca9688 61 return offset;
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63
garyservin 0:fd24f7ca9688 64 const char * getType(){ return "driver_base/ConfigString"; };
garyservin 0:fd24f7ca9688 65 const char * getMD5(){ return "bc6ccc4a57f61779c8eaae61e9f422e0"; };
garyservin 0:fd24f7ca9688 66
garyservin 0:fd24f7ca9688 67 };
garyservin 0:fd24f7ca9688 68
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70 #endif