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

tf/FrameGraph.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_SERVICE_FrameGraph_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_FrameGraph_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace tf
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class FrameGraphRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16
garyservin 0:fd24f7ca9688 17 FrameGraphRequest()
garyservin 0:fd24f7ca9688 18 {
garyservin 0:fd24f7ca9688 19 }
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 int offset = 0;
garyservin 0:fd24f7ca9688 24 return offset;
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 return offset;
garyservin 0:fd24f7ca9688 31 }
garyservin 0:fd24f7ca9688 32
garyservin 0:fd24f7ca9688 33 const char * getType(){ return FRAMEGRAPH; };
garyservin 0:fd24f7ca9688 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 35
garyservin 0:fd24f7ca9688 36 };
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 class FrameGraphResponse : public ros::Msg
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 public:
garyservin 0:fd24f7ca9688 41 const char* dot_graph;
garyservin 0:fd24f7ca9688 42
garyservin 0:fd24f7ca9688 43 FrameGraphResponse():
garyservin 0:fd24f7ca9688 44 dot_graph("")
garyservin 0:fd24f7ca9688 45 {
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47
garyservin 0:fd24f7ca9688 48 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 49 {
garyservin 0:fd24f7ca9688 50 int offset = 0;
garyservin 0:fd24f7ca9688 51 uint32_t length_dot_graph = strlen(this->dot_graph);
garyservin 0:fd24f7ca9688 52 memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 53 offset += 4;
garyservin 0:fd24f7ca9688 54 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
garyservin 0:fd24f7ca9688 55 offset += length_dot_graph;
garyservin 0:fd24f7ca9688 56 return offset;
garyservin 0:fd24f7ca9688 57 }
garyservin 0:fd24f7ca9688 58
garyservin 0:fd24f7ca9688 59 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 60 {
garyservin 0:fd24f7ca9688 61 int offset = 0;
garyservin 0:fd24f7ca9688 62 uint32_t length_dot_graph;
garyservin 0:fd24f7ca9688 63 memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 64 offset += 4;
garyservin 0:fd24f7ca9688 65 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
garyservin 0:fd24f7ca9688 66 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 67 }
garyservin 0:fd24f7ca9688 68 inbuffer[offset+length_dot_graph-1]=0;
garyservin 0:fd24f7ca9688 69 this->dot_graph = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 70 offset += length_dot_graph;
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 const char * getType(){ return FRAMEGRAPH; };
garyservin 0:fd24f7ca9688 75 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 };
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 class FrameGraph {
garyservin 0:fd24f7ca9688 80 public:
garyservin 0:fd24f7ca9688 81 typedef FrameGraphRequest Request;
garyservin 0:fd24f7ca9688 82 typedef FrameGraphResponse Response;
garyservin 0:fd24f7ca9688 83 };
garyservin 0:fd24f7ca9688 84
garyservin 0:fd24f7ca9688 85 }
garyservin 0:fd24f7ca9688 86 #endif