root / quad2 / arduino / src / ros_lib / rosserial_arduino / Test.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_SERVICE_Test_h
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2 | #define _ROS_SERVICE_Test_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 rosserial_arduino |
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9 | { |
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10 | |||
11 | static const char TEST[] = "rosserial_arduino/Test"; |
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12 | |||
13 | class TestRequest : public ros::Msg |
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14 | { |
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15 | public:
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16 | char * input;
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17 | |||
18 | virtual int serialize(unsigned char *outbuffer) const |
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19 | { |
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20 | int offset = 0; |
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21 | uint32_t * length_input = (uint32_t *)(outbuffer + offset); |
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22 | *length_input = strlen( (const char*) this->input); |
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23 | offset += 4;
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24 | memcpy(outbuffer + offset, this->input, *length_input); |
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25 | offset += *length_input; |
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26 | return offset;
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27 | } |
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28 | |||
29 | virtual int deserialize(unsigned char *inbuffer) |
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30 | { |
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31 | int offset = 0; |
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32 | uint32_t length_input = *(uint32_t *)(inbuffer + offset); |
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33 | offset += 4;
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34 | for(unsigned int k= offset; k< offset+length_input; ++k){ |
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35 | inbuffer[k-1]=inbuffer[k];
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36 | } |
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37 | inbuffer[offset+length_input-1]=0; |
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38 | this->input = (char *)(inbuffer + offset-1); |
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39 | offset += length_input; |
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40 | return offset;
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41 | } |
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42 | |||
43 | const char * getType(){ return TEST; }; |
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44 | const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; }; |
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45 | |||
46 | }; |
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47 | |||
48 | class TestResponse : public ros::Msg |
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49 | { |
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50 | public:
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51 | char * output;
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52 | |||
53 | virtual int serialize(unsigned char *outbuffer) const |
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54 | { |
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55 | int offset = 0; |
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56 | uint32_t * length_output = (uint32_t *)(outbuffer + offset); |
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57 | *length_output = strlen( (const char*) this->output); |
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58 | offset += 4;
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59 | memcpy(outbuffer + offset, this->output, *length_output); |
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60 | offset += *length_output; |
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61 | return offset;
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62 | } |
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63 | |||
64 | virtual int deserialize(unsigned char *inbuffer) |
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65 | { |
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66 | int offset = 0; |
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67 | uint32_t length_output = *(uint32_t *)(inbuffer + offset); |
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68 | offset += 4;
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69 | for(unsigned int k= offset; k< offset+length_output; ++k){ |
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70 | inbuffer[k-1]=inbuffer[k];
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71 | } |
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72 | inbuffer[offset+length_output-1]=0; |
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73 | this->output = (char *)(inbuffer + offset-1); |
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74 | offset += length_output; |
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75 | return offset;
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76 | } |
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77 | |||
78 | const char * getType(){ return TEST; }; |
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79 | const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; }; |
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80 | |||
81 | }; |
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82 | |||
83 | class Test { |
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84 | public:
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85 | typedef TestRequest Request;
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86 | typedef TestResponse Response;
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87 | }; |
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88 | |||
89 | } |
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90 | #endif |