root / quad2 / arduino / src / ros_lib / tf / FrameGraph.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_SERVICE_FrameGraph_h
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2 | #define _ROS_SERVICE_FrameGraph_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 tf |
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9 | { |
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10 | |||
11 | static const char FRAMEGRAPH[] = "tf/FrameGraph"; |
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12 | |||
13 | class FrameGraphRequest : 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 FRAMEGRAPH; }; |
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30 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
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31 | |||
32 | }; |
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33 | |||
34 | class FrameGraphResponse : public ros::Msg |
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35 | { |
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36 | public:
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37 | char * dot_graph;
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38 | |||
39 | virtual int serialize(unsigned char *outbuffer) const |
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40 | { |
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41 | int offset = 0; |
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42 | uint32_t * length_dot_graph = (uint32_t *)(outbuffer + offset); |
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43 | *length_dot_graph = strlen( (const char*) this->dot_graph); |
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44 | offset += 4;
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45 | memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph); |
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46 | offset += *length_dot_graph; |
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47 | return offset;
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48 | } |
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49 | |||
50 | virtual int deserialize(unsigned char *inbuffer) |
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51 | { |
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52 | int offset = 0; |
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53 | uint32_t length_dot_graph = *(uint32_t *)(inbuffer + offset); |
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54 | offset += 4;
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55 | for(unsigned int k= offset; k< offset+length_dot_graph; ++k){ |
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56 | inbuffer[k-1]=inbuffer[k];
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57 | } |
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58 | inbuffer[offset+length_dot_graph-1]=0; |
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59 | this->dot_graph = (char *)(inbuffer + offset-1); |
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60 | offset += length_dot_graph; |
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61 | return offset;
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62 | } |
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63 | |||
64 | const char * getType(){ return FRAMEGRAPH; }; |
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65 | const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; }; |
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66 | |||
67 | }; |
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68 | |||
69 | class FrameGraph { |
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70 | public:
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71 | typedef FrameGraphRequest Request;
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72 | typedef FrameGraphResponse Response;
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73 | }; |
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74 | |||
75 | } |
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76 | #endif |