Diff: topic_tools/MuxList.h

Revision:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/MuxList.h	Sat Nov 12 23:54:45 2011 +0000
@@ -0,0 +1,92 @@
+#ifndef _ROS_SERVICE_MuxList_h
+#define _ROS_SERVICE_MuxList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXLIST[] = "topic_tools/MuxList";
+
+  class MuxListRequest : public ros::Msg
+  {
+    public:
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    virtual const char * getType(){ return MUXLIST; };
+    virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxListResponse : public ros::Msg
+  {
+    public:
+      uint8_t topics_length;
+      char* st_topics;
+      char* * topics;
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = topics_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset);
+      *length_topicsi = strlen( (const char*) this->topics[i]);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], *length_topicsi);
+      offset += *length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t topics_lengthT = *(inbuffer + offset++);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      offset += 3;
+      topics_length = topics_lengthT;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    virtual const char * getType(){ return MUXLIST; };
+    virtual const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
+
+  };
+
+  class MuxList {
+    public:
+    typedef MuxListRequest Request;
+    typedef MuxListResponse Response;
+  };
+
+}
+#endif
\ No newline at end of file