S Morita / mbed-mros2

Porting mros2 as an Mbed library.

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

mros2_msgs/std_msgs/msg/string.hpp@0:580aba13d1a1, 2021-12-30 (annotated)

Committer:
smoritaemb
Date:
Thu Dec 30 21:06:29 2021 +0900
Revision:
0:580aba13d1a1
Child:
2:159877d749c2
Updated to catch up to mros2 v2.3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 #include <string>
smoritaemb 0:580aba13d1a1 2
smoritaemb 0:580aba13d1a1 3 namespace std_msgs
smoritaemb 0:580aba13d1a1 4 {
smoritaemb 0:580aba13d1a1 5 namespace msg
smoritaemb 0:580aba13d1a1 6 {
smoritaemb 0:580aba13d1a1 7 class String
smoritaemb 0:580aba13d1a1 8 {
smoritaemb 0:580aba13d1a1 9 public:
smoritaemb 0:580aba13d1a1 10 std::string getTypeName();
smoritaemb 0:580aba13d1a1 11 std::string data;
smoritaemb 0:580aba13d1a1 12 void copyToBuf(uint8_t *addrPtr)
smoritaemb 0:580aba13d1a1 13 {
smoritaemb 0:580aba13d1a1 14 uint32_t size = data.size();
smoritaemb 0:580aba13d1a1 15 memcpy(addrPtr, &size, 4);
smoritaemb 0:580aba13d1a1 16 addrPtr += 4;
smoritaemb 0:580aba13d1a1 17 memcpy(addrPtr, data.c_str(),size);
smoritaemb 0:580aba13d1a1 18 addrPtr += size;
smoritaemb 0:580aba13d1a1 19 *addrPtr = 0;
smoritaemb 0:580aba13d1a1 20 }
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 void copyFromBuf(const uint8_t *addrPtr)
smoritaemb 0:580aba13d1a1 23 {
smoritaemb 0:580aba13d1a1 24 uint32_t msg_size;
smoritaemb 0:580aba13d1a1 25 memcpy(&msg_size, addrPtr, 4);
smoritaemb 0:580aba13d1a1 26 addrPtr += 4;
smoritaemb 0:580aba13d1a1 27 data.resize(msg_size);
smoritaemb 0:580aba13d1a1 28 memcpy(&data[0], addrPtr, msg_size);
smoritaemb 0:580aba13d1a1 29
smoritaemb 0:580aba13d1a1 30 }
smoritaemb 0:580aba13d1a1 31
smoritaemb 0:580aba13d1a1 32 uint8_t getTotalSize()
smoritaemb 0:580aba13d1a1 33 {
smoritaemb 0:580aba13d1a1 34 return (5 + data.size());
smoritaemb 0:580aba13d1a1 35 }
smoritaemb 0:580aba13d1a1 36 private:
smoritaemb 0:580aba13d1a1 37 std::string type_name = "std_msgs::msg::dds_::String";
smoritaemb 0:580aba13d1a1 38 };
smoritaemb 0:580aba13d1a1 39 }//namspace msg
smoritaemb 0:580aba13d1a1 40 }//namespace std_msgs
smoritaemb 0:580aba13d1a1 41
smoritaemb 0:580aba13d1a1 42 namespace message_traits
smoritaemb 0:580aba13d1a1 43 {
smoritaemb 0:580aba13d1a1 44
smoritaemb 0:580aba13d1a1 45 template<>
smoritaemb 0:580aba13d1a1 46 struct TypeName<std_msgs::msg::String*> {
smoritaemb 0:580aba13d1a1 47 static const char* value()
smoritaemb 0:580aba13d1a1 48 {
smoritaemb 0:580aba13d1a1 49 return "std_msgs::msg::dds_::String_";
smoritaemb 0:580aba13d1a1 50 }
smoritaemb 0:580aba13d1a1 51 };
smoritaemb 0:580aba13d1a1 52
smoritaemb 0:580aba13d1a1 53 }