26 #include "gsdf_msgs/CommPacket.h" 27 #include "gsdf_msgs/JoinSwarm.h" 28 #include "micros_swarm/message.h" 34 std::cout<<
"length: "<<s.length()<<
", data: ";
35 for(
int i = 0; i < s.length(); i++) {
43 std::cout<<
"length: "<<len<<
", data: ";
44 for(
int i = 0; i < len; i++) {
45 std::cout<<(int)(*(s+i));
52 std::cout<<
"length: "<<vec.size()<<
", data: ";
53 for(
int i = 0; i < vec.size(); i++) {
54 std::cout<<(int)(vec[i]);
61 int msgLen = packet.
data.length();
63 std::cout<<
"opensplice dds recv error."<<std::endl;
66 uint8_t* buf = (uint8_t*)malloc(
sizeof(uint8_t)*msgLen);
67 memcpy(buf, packet.
data.get_buffer(), msgLen);
68 std::vector<uint8_t> vec;
70 std::copy(buf, buf + msgLen, vec.begin());
72 gsdf_msgs::JoinSwarm js = micros_swarm::deserialize_ros<gsdf_msgs::JoinSwarm>(vec);
73 std::cout<<
"js: "<<js.robot_id<<
", "<<js.swarm_id<<std::endl;
void subscribe(void(*callBack)(const GSDFPacket &packet))
void dump_char_seq(char *s, int len)
void dump_string(const std::string &s)
void callBack(const opensplice_dds_broker::GSDFPacket &packet)
void dump_char_vec(std::vector< uint8_t > vec)