It has only one change from original one. I added robotfeedback message on it.
Dependents: RobotFeedback mobileRobotITU
Fork of ros_lib_indigo by
topic_tools/MuxList.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_SERVICE_MuxList_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_SERVICE_MuxList_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 topic_tools |
garyservin | 0:fd24f7ca9688 | 9 | { |
garyservin | 0:fd24f7ca9688 | 10 | |
garyservin | 0:fd24f7ca9688 | 11 | static const char MUXLIST[] = "topic_tools/MuxList"; |
garyservin | 0:fd24f7ca9688 | 12 | |
garyservin | 0:fd24f7ca9688 | 13 | class MuxListRequest : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 14 | { |
garyservin | 0:fd24f7ca9688 | 15 | public: |
garyservin | 0:fd24f7ca9688 | 16 | |
garyservin | 0:fd24f7ca9688 | 17 | MuxListRequest() |
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 MUXLIST; }; |
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 MuxListResponse : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 39 | { |
garyservin | 0:fd24f7ca9688 | 40 | public: |
garyservin | 0:fd24f7ca9688 | 41 | uint8_t topics_length; |
garyservin | 0:fd24f7ca9688 | 42 | char* st_topics; |
garyservin | 0:fd24f7ca9688 | 43 | char* * topics; |
garyservin | 0:fd24f7ca9688 | 44 | |
garyservin | 0:fd24f7ca9688 | 45 | MuxListResponse(): |
garyservin | 0:fd24f7ca9688 | 46 | topics_length(0), topics(NULL) |
garyservin | 0:fd24f7ca9688 | 47 | { |
garyservin | 0:fd24f7ca9688 | 48 | } |
garyservin | 0:fd24f7ca9688 | 49 | |
garyservin | 0:fd24f7ca9688 | 50 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 51 | { |
garyservin | 0:fd24f7ca9688 | 52 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 53 | *(outbuffer + offset++) = topics_length; |
garyservin | 0:fd24f7ca9688 | 54 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 55 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 56 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 57 | for( uint8_t i = 0; i < topics_length; i++){ |
garyservin | 0:fd24f7ca9688 | 58 | uint32_t length_topicsi = strlen(this->topics[i]); |
garyservin | 0:fd24f7ca9688 | 59 | memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 60 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 61 | memcpy(outbuffer + offset, this->topics[i], length_topicsi); |
garyservin | 0:fd24f7ca9688 | 62 | offset += length_topicsi; |
garyservin | 0:fd24f7ca9688 | 63 | } |
garyservin | 0:fd24f7ca9688 | 64 | return offset; |
garyservin | 0:fd24f7ca9688 | 65 | } |
garyservin | 0:fd24f7ca9688 | 66 | |
garyservin | 0:fd24f7ca9688 | 67 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 68 | { |
garyservin | 0:fd24f7ca9688 | 69 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 70 | uint8_t topics_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 71 | if(topics_lengthT > topics_length) |
garyservin | 0:fd24f7ca9688 | 72 | this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); |
garyservin | 0:fd24f7ca9688 | 73 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 74 | topics_length = topics_lengthT; |
garyservin | 0:fd24f7ca9688 | 75 | for( uint8_t i = 0; i < topics_length; i++){ |
garyservin | 0:fd24f7ca9688 | 76 | uint32_t length_st_topics; |
garyservin | 0:fd24f7ca9688 | 77 | memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 78 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 79 | for(unsigned int k= offset; k< offset+length_st_topics; ++k){ |
garyservin | 0:fd24f7ca9688 | 80 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 81 | } |
garyservin | 0:fd24f7ca9688 | 82 | inbuffer[offset+length_st_topics-1]=0; |
garyservin | 0:fd24f7ca9688 | 83 | this->st_topics = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 84 | offset += length_st_topics; |
garyservin | 0:fd24f7ca9688 | 85 | memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); |
garyservin | 0:fd24f7ca9688 | 86 | } |
garyservin | 0:fd24f7ca9688 | 87 | return offset; |
garyservin | 0:fd24f7ca9688 | 88 | } |
garyservin | 0:fd24f7ca9688 | 89 | |
garyservin | 0:fd24f7ca9688 | 90 | const char * getType(){ return MUXLIST; }; |
garyservin | 0:fd24f7ca9688 | 91 | const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; |
garyservin | 0:fd24f7ca9688 | 92 | |
garyservin | 0:fd24f7ca9688 | 93 | }; |
garyservin | 0:fd24f7ca9688 | 94 | |
garyservin | 0:fd24f7ca9688 | 95 | class MuxList { |
garyservin | 0:fd24f7ca9688 | 96 | public: |
garyservin | 0:fd24f7ca9688 | 97 | typedef MuxListRequest Request; |
garyservin | 0:fd24f7ca9688 | 98 | typedef MuxListResponse Response; |
garyservin | 0:fd24f7ca9688 | 99 | }; |
garyservin | 0:fd24f7ca9688 | 100 | |
garyservin | 0:fd24f7ca9688 | 101 | } |
garyservin | 0:fd24f7ca9688 | 102 | #endif |