root / scout_avr / src / ros_lib / std_msgs / String.h @ 88fb3a79
History | View | Annotate | Download (1.12 KB)
1 |
#ifndef _ROS_std_msgs_String_h
|
---|---|
2 |
#define _ROS_std_msgs_String_h
|
3 |
|
4 |
#include <stdint.h> |
5 |
#include <string.h> |
6 |
#include <stdlib.h> |
7 |
#include "ros/msg.h" |
8 |
|
9 |
namespace std_msgs |
10 |
{ |
11 |
|
12 |
class String : public ros::Msg |
13 |
{ |
14 |
public:
|
15 |
char * data;
|
16 |
|
17 |
virtual int serialize(unsigned char *outbuffer) const |
18 |
{ |
19 |
int offset = 0; |
20 |
uint32_t * length_data = (uint32_t *)(outbuffer + offset); |
21 |
*length_data = strlen( (const char*) this->data); |
22 |
offset += 4;
|
23 |
memcpy(outbuffer + offset, this->data, *length_data); |
24 |
offset += *length_data; |
25 |
return offset;
|
26 |
} |
27 |
|
28 |
virtual int deserialize(unsigned char *inbuffer) |
29 |
{ |
30 |
int offset = 0; |
31 |
uint32_t length_data = *(uint32_t *)(inbuffer + offset); |
32 |
offset += 4;
|
33 |
for(unsigned int k= offset; k< offset+length_data; ++k){ |
34 |
inbuffer[k-1]=inbuffer[k];
|
35 |
} |
36 |
inbuffer[offset+length_data-1]=0; |
37 |
this->data = (char *)(inbuffer + offset-1); |
38 |
offset += length_data; |
39 |
return offset;
|
40 |
} |
41 |
|
42 |
const char * getType(){ return "std_msgs/String"; }; |
43 |
const char * getMD5(){ return "992ce8a1687cec8c8bd883ec73ca41d1"; }; |
44 |
|
45 |
}; |
46 |
|
47 |
} |
48 |
#endif
|