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Dependencies:   mbed Watchdog stm32-sensor-base2

ros_lib_melodic/tf2_msgs/FrameGraph.h@2:b7fdc74e5c5d, 2020-07-07 (annotated)

Committer:
ommpy
Date:
Tue Jul 07 15:19:06 2020 +0530
Revision:
2:b7fdc74e5c5d
new board files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 2:b7fdc74e5c5d 1 #ifndef _ROS_SERVICE_FrameGraph_h
ommpy 2:b7fdc74e5c5d 2 #define _ROS_SERVICE_FrameGraph_h
ommpy 2:b7fdc74e5c5d 3 #include <stdint.h>
ommpy 2:b7fdc74e5c5d 4 #include <string.h>
ommpy 2:b7fdc74e5c5d 5 #include <stdlib.h>
ommpy 2:b7fdc74e5c5d 6 #include "ros/msg.h"
ommpy 2:b7fdc74e5c5d 7
ommpy 2:b7fdc74e5c5d 8 namespace tf2_msgs
ommpy 2:b7fdc74e5c5d 9 {
ommpy 2:b7fdc74e5c5d 10
ommpy 2:b7fdc74e5c5d 11 static const char FRAMEGRAPH[] = "tf2_msgs/FrameGraph";
ommpy 2:b7fdc74e5c5d 12
ommpy 2:b7fdc74e5c5d 13 class FrameGraphRequest : public ros::Msg
ommpy 2:b7fdc74e5c5d 14 {
ommpy 2:b7fdc74e5c5d 15 public:
ommpy 2:b7fdc74e5c5d 16
ommpy 2:b7fdc74e5c5d 17 FrameGraphRequest()
ommpy 2:b7fdc74e5c5d 18 {
ommpy 2:b7fdc74e5c5d 19 }
ommpy 2:b7fdc74e5c5d 20
ommpy 2:b7fdc74e5c5d 21 virtual int serialize(unsigned char *outbuffer) const
ommpy 2:b7fdc74e5c5d 22 {
ommpy 2:b7fdc74e5c5d 23 int offset = 0;
ommpy 2:b7fdc74e5c5d 24 return offset;
ommpy 2:b7fdc74e5c5d 25 }
ommpy 2:b7fdc74e5c5d 26
ommpy 2:b7fdc74e5c5d 27 virtual int deserialize(unsigned char *inbuffer)
ommpy 2:b7fdc74e5c5d 28 {
ommpy 2:b7fdc74e5c5d 29 int offset = 0;
ommpy 2:b7fdc74e5c5d 30 return offset;
ommpy 2:b7fdc74e5c5d 31 }
ommpy 2:b7fdc74e5c5d 32
ommpy 2:b7fdc74e5c5d 33 const char * getType(){ return FRAMEGRAPH; };
ommpy 2:b7fdc74e5c5d 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
ommpy 2:b7fdc74e5c5d 35
ommpy 2:b7fdc74e5c5d 36 };
ommpy 2:b7fdc74e5c5d 37
ommpy 2:b7fdc74e5c5d 38 class FrameGraphResponse : public ros::Msg
ommpy 2:b7fdc74e5c5d 39 {
ommpy 2:b7fdc74e5c5d 40 public:
ommpy 2:b7fdc74e5c5d 41 typedef const char* _frame_yaml_type;
ommpy 2:b7fdc74e5c5d 42 _frame_yaml_type frame_yaml;
ommpy 2:b7fdc74e5c5d 43
ommpy 2:b7fdc74e5c5d 44 FrameGraphResponse():
ommpy 2:b7fdc74e5c5d 45 frame_yaml("")
ommpy 2:b7fdc74e5c5d 46 {
ommpy 2:b7fdc74e5c5d 47 }
ommpy 2:b7fdc74e5c5d 48
ommpy 2:b7fdc74e5c5d 49 virtual int serialize(unsigned char *outbuffer) const
ommpy 2:b7fdc74e5c5d 50 {
ommpy 2:b7fdc74e5c5d 51 int offset = 0;
ommpy 2:b7fdc74e5c5d 52 uint32_t length_frame_yaml = strlen(this->frame_yaml);
ommpy 2:b7fdc74e5c5d 53 varToArr(outbuffer + offset, length_frame_yaml);
ommpy 2:b7fdc74e5c5d 54 offset += 4;
ommpy 2:b7fdc74e5c5d 55 memcpy(outbuffer + offset, this->frame_yaml, length_frame_yaml);
ommpy 2:b7fdc74e5c5d 56 offset += length_frame_yaml;
ommpy 2:b7fdc74e5c5d 57 return offset;
ommpy 2:b7fdc74e5c5d 58 }
ommpy 2:b7fdc74e5c5d 59
ommpy 2:b7fdc74e5c5d 60 virtual int deserialize(unsigned char *inbuffer)
ommpy 2:b7fdc74e5c5d 61 {
ommpy 2:b7fdc74e5c5d 62 int offset = 0;
ommpy 2:b7fdc74e5c5d 63 uint32_t length_frame_yaml;
ommpy 2:b7fdc74e5c5d 64 arrToVar(length_frame_yaml, (inbuffer + offset));
ommpy 2:b7fdc74e5c5d 65 offset += 4;
ommpy 2:b7fdc74e5c5d 66 for(unsigned int k= offset; k< offset+length_frame_yaml; ++k){
ommpy 2:b7fdc74e5c5d 67 inbuffer[k-1]=inbuffer[k];
ommpy 2:b7fdc74e5c5d 68 }
ommpy 2:b7fdc74e5c5d 69 inbuffer[offset+length_frame_yaml-1]=0;
ommpy 2:b7fdc74e5c5d 70 this->frame_yaml = (char *)(inbuffer + offset-1);
ommpy 2:b7fdc74e5c5d 71 offset += length_frame_yaml;
ommpy 2:b7fdc74e5c5d 72 return offset;
ommpy 2:b7fdc74e5c5d 73 }
ommpy 2:b7fdc74e5c5d 74
ommpy 2:b7fdc74e5c5d 75 const char * getType(){ return FRAMEGRAPH; };
ommpy 2:b7fdc74e5c5d 76 const char * getMD5(){ return "437ea58e9463815a0d511c7326b686b0"; };
ommpy 2:b7fdc74e5c5d 77
ommpy 2:b7fdc74e5c5d 78 };
ommpy 2:b7fdc74e5c5d 79
ommpy 2:b7fdc74e5c5d 80 class FrameGraph {
ommpy 2:b7fdc74e5c5d 81 public:
ommpy 2:b7fdc74e5c5d 82 typedef FrameGraphRequest Request;
ommpy 2:b7fdc74e5c5d 83 typedef FrameGraphResponse Response;
ommpy 2:b7fdc74e5c5d 84 };
ommpy 2:b7fdc74e5c5d 85
ommpy 2:b7fdc74e5c5d 86 }
ommpy 2:b7fdc74e5c5d 87 #endif