root / quad2 / arduino / src / ros_lib / topic_tools / MuxList.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_SERVICE_MuxList_h
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2 | #define _ROS_SERVICE_MuxList_h
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3 | #include <stdint.h> |
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4 | #include <string.h> |
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5 | #include <stdlib.h> |
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6 | #include "ros/msg.h" |
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7 | |||
8 | namespace topic_tools |
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9 | { |
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10 | |||
11 | static const char MUXLIST[] = "topic_tools/MuxList"; |
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12 | |||
13 | class MuxListRequest : public ros::Msg |
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14 | { |
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15 | public:
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16 | |||
17 | virtual int serialize(unsigned char *outbuffer) const |
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18 | { |
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19 | int offset = 0; |
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20 | return offset;
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21 | } |
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22 | |||
23 | virtual int deserialize(unsigned char *inbuffer) |
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24 | { |
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25 | int offset = 0; |
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26 | return offset;
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27 | } |
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28 | |||
29 | const char * getType(){ return MUXLIST; }; |
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30 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
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31 | |||
32 | }; |
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33 | |||
34 | class MuxListResponse : public ros::Msg |
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35 | { |
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36 | public:
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37 | uint8_t topics_length; |
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38 | char* st_topics;
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39 | char* * topics;
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40 | |||
41 | virtual int serialize(unsigned char *outbuffer) const |
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42 | { |
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43 | int offset = 0; |
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44 | *(outbuffer + offset++) = topics_length; |
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45 | *(outbuffer + offset++) = 0;
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46 | *(outbuffer + offset++) = 0;
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47 | *(outbuffer + offset++) = 0;
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48 | for( uint8_t i = 0; i < topics_length; i++){ |
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49 | uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset); |
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50 | *length_topicsi = strlen( (const char*) this->topics[i]); |
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51 | offset += 4;
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52 | memcpy(outbuffer + offset, this->topics[i], *length_topicsi); |
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53 | offset += *length_topicsi; |
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54 | } |
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55 | return offset;
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56 | } |
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57 | |||
58 | virtual int deserialize(unsigned char *inbuffer) |
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59 | { |
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60 | int offset = 0; |
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61 | uint8_t topics_lengthT = *(inbuffer + offset++); |
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62 | if(topics_lengthT > topics_length)
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63 | this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); |
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64 | offset += 3;
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65 | topics_length = topics_lengthT; |
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66 | for( uint8_t i = 0; i < topics_length; i++){ |
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67 | uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset); |
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68 | offset += 4;
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69 | for(unsigned int k= offset; k< offset+length_st_topics; ++k){ |
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70 | inbuffer[k-1]=inbuffer[k];
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71 | } |
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72 | inbuffer[offset+length_st_topics-1]=0; |
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73 | this->st_topics = (char *)(inbuffer + offset-1); |
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74 | offset += length_st_topics; |
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75 | memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); |
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76 | } |
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77 | return offset;
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78 | } |
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79 | |||
80 | const char * getType(){ return MUXLIST; }; |
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81 | const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; }; |
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82 | |||
83 | }; |
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84 | |||
85 | class MuxList { |
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86 | public:
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87 | typedef MuxListRequest Request;
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88 | typedef MuxListResponse Response;
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89 | }; |
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90 | |||
91 | } |
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92 | #endif |