nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
topic_tools/MuxList.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_SERVICE_MuxList_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_MuxList_h |
| nucho | 3:1cf99502f396 | 3 | #include <stdint.h> |
| nucho | 3:1cf99502f396 | 4 | #include <string.h> |
| nucho | 3:1cf99502f396 | 5 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 6 | #include "ros/msg.h" |
| nucho | 3:1cf99502f396 | 7 | |
| nucho | 3:1cf99502f396 | 8 | namespace topic_tools |
| nucho | 3:1cf99502f396 | 9 | { |
| nucho | 3:1cf99502f396 | 10 | |
| nucho | 3:1cf99502f396 | 11 | static const char MUXLIST[] = "topic_tools/MuxList"; |
| nucho | 3:1cf99502f396 | 12 | |
| nucho | 3:1cf99502f396 | 13 | class MuxListRequest : public ros::Msg |
| nucho | 3:1cf99502f396 | 14 | { |
| nucho | 3:1cf99502f396 | 15 | public: |
| nucho | 3:1cf99502f396 | 16 | |
| nucho | 3:1cf99502f396 | 17 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 18 | { |
| nucho | 3:1cf99502f396 | 19 | int offset = 0; |
| nucho | 3:1cf99502f396 | 20 | return offset; |
| nucho | 3:1cf99502f396 | 21 | } |
| nucho | 3:1cf99502f396 | 22 | |
| nucho | 3:1cf99502f396 | 23 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 24 | { |
| nucho | 3:1cf99502f396 | 25 | int offset = 0; |
| nucho | 3:1cf99502f396 | 26 | return offset; |
| nucho | 3:1cf99502f396 | 27 | } |
| nucho | 3:1cf99502f396 | 28 | |
| nucho | 3:1cf99502f396 | 29 | virtual const char * getType(){ return MUXLIST; }; |
| nucho | 3:1cf99502f396 | 30 | virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
| nucho | 3:1cf99502f396 | 31 | |
| nucho | 3:1cf99502f396 | 32 | }; |
| nucho | 3:1cf99502f396 | 33 | |
| nucho | 3:1cf99502f396 | 34 | class MuxListResponse : public ros::Msg |
| nucho | 3:1cf99502f396 | 35 | { |
| nucho | 3:1cf99502f396 | 36 | public: |
| nucho | 3:1cf99502f396 | 37 | uint8_t topics_length; |
| nucho | 3:1cf99502f396 | 38 | char* st_topics; |
| nucho | 3:1cf99502f396 | 39 | char* * topics; |
| nucho | 3:1cf99502f396 | 40 | |
| nucho | 3:1cf99502f396 | 41 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 42 | { |
| nucho | 3:1cf99502f396 | 43 | int offset = 0; |
| nucho | 3:1cf99502f396 | 44 | *(outbuffer + offset++) = topics_length; |
| nucho | 3:1cf99502f396 | 45 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 46 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 47 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 48 | for( uint8_t i = 0; i < topics_length; i++){ |
| nucho | 3:1cf99502f396 | 49 | uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 50 | *length_topicsi = strlen( (const char*) this->topics[i]); |
| nucho | 3:1cf99502f396 | 51 | offset += 4; |
| nucho | 3:1cf99502f396 | 52 | memcpy(outbuffer + offset, this->topics[i], *length_topicsi); |
| nucho | 3:1cf99502f396 | 53 | offset += *length_topicsi; |
| nucho | 3:1cf99502f396 | 54 | } |
| nucho | 3:1cf99502f396 | 55 | return offset; |
| nucho | 3:1cf99502f396 | 56 | } |
| nucho | 3:1cf99502f396 | 57 | |
| nucho | 3:1cf99502f396 | 58 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 59 | { |
| nucho | 3:1cf99502f396 | 60 | int offset = 0; |
| nucho | 3:1cf99502f396 | 61 | uint8_t topics_lengthT = *(inbuffer + offset++); |
| nucho | 3:1cf99502f396 | 62 | if(topics_lengthT > topics_length) |
| nucho | 3:1cf99502f396 | 63 | this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); |
| nucho | 3:1cf99502f396 | 64 | offset += 3; |
| nucho | 3:1cf99502f396 | 65 | topics_length = topics_lengthT; |
| nucho | 3:1cf99502f396 | 66 | for( uint8_t i = 0; i < topics_length; i++){ |
| nucho | 3:1cf99502f396 | 67 | uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 68 | offset += 4; |
| nucho | 3:1cf99502f396 | 69 | for(unsigned int k= offset; k< offset+length_st_topics; ++k){ |
| nucho | 3:1cf99502f396 | 70 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 71 | } |
| nucho | 3:1cf99502f396 | 72 | inbuffer[offset+length_st_topics-1]=0; |
| nucho | 3:1cf99502f396 | 73 | this->st_topics = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 74 | offset += length_st_topics; |
| nucho | 3:1cf99502f396 | 75 | memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); |
| nucho | 3:1cf99502f396 | 76 | } |
| nucho | 3:1cf99502f396 | 77 | return offset; |
| nucho | 3:1cf99502f396 | 78 | } |
| nucho | 3:1cf99502f396 | 79 | |
| nucho | 3:1cf99502f396 | 80 | virtual const char * getType(){ return MUXLIST; }; |
| nucho | 3:1cf99502f396 | 81 | virtual const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; |
| nucho | 3:1cf99502f396 | 82 | |
| nucho | 3:1cf99502f396 | 83 | }; |
| nucho | 3:1cf99502f396 | 84 | |
| nucho | 3:1cf99502f396 | 85 | class MuxList { |
| nucho | 3:1cf99502f396 | 86 | public: |
| nucho | 3:1cf99502f396 | 87 | typedef MuxListRequest Request; |
| nucho | 3:1cf99502f396 | 88 | typedef MuxListResponse Response; |
| nucho | 3:1cf99502f396 | 89 | }; |
| nucho | 3:1cf99502f396 | 90 | |
| nucho | 3:1cf99502f396 | 91 | } |
| nucho | 3:1cf99502f396 | 92 | #endif |