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

rospy_tutorials/HeaderString.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_rospy_tutorials_HeaderString_h
garyservin 0:fd24f7ca9688 2 #define _ROS_rospy_tutorials_HeaderString_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 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace rospy_tutorials
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class HeaderString : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 const char* data;
garyservin 0:fd24f7ca9688 18
garyservin 0:fd24f7ca9688 19 HeaderString():
garyservin 0:fd24f7ca9688 20 header(),
garyservin 0:fd24f7ca9688 21 data("")
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 }
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 int offset = 0;
garyservin 0:fd24f7ca9688 28 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 29 uint32_t length_data = strlen(this->data);
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, &length_data, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 31 offset += 4;
garyservin 0:fd24f7ca9688 32 memcpy(outbuffer + offset, this->data, length_data);
garyservin 0:fd24f7ca9688 33 offset += length_data;
garyservin 0:fd24f7ca9688 34 return offset;
garyservin 0:fd24f7ca9688 35 }
garyservin 0:fd24f7ca9688 36
garyservin 0:fd24f7ca9688 37 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 38 {
garyservin 0:fd24f7ca9688 39 int offset = 0;
garyservin 0:fd24f7ca9688 40 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 41 uint32_t length_data;
garyservin 0:fd24f7ca9688 42 memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 43 offset += 4;
garyservin 0:fd24f7ca9688 44 for(unsigned int k= offset; k< offset+length_data; ++k){
garyservin 0:fd24f7ca9688 45 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47 inbuffer[offset+length_data-1]=0;
garyservin 0:fd24f7ca9688 48 this->data = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 49 offset += length_data;
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 const char * getType(){ return "rospy_tutorials/HeaderString"; };
garyservin 0:fd24f7ca9688 54 const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
garyservin 0:fd24f7ca9688 55
garyservin 0:fd24f7ca9688 56 };
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 }
garyservin 0:fd24f7ca9688 59 #endif