header.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00010  *
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00034 
00035 #include "ros/header.h"
00036 #include "ros/transport/transport.h"
00037 #include <ros/console.h>
00038 #include <ros/assert.h>
00039 
00040 #include <sstream>
00041 
00042 #include <cerrno>
00043 
00044 #define SROS_SERIALIZE_PRIMITIVE(ptr, data) { memcpy(ptr, &data, sizeof(data)); ptr += sizeof(data); }
00045 #define SROS_SERIALIZE_BUFFER(ptr, data, data_size) { if (data_size > 0) { memcpy(ptr, data, data_size); ptr += data_size; } }
00046 #define SROS_DESERIALIZE_PRIMITIVE(ptr, data) { memcpy(&data, ptr, sizeof(data)); ptr += sizeof(data); }
00047 #define SROS_DESERIALIZE_BUFFER(ptr, data, data_size) { if (data_size > 0) { memcpy(data, ptr, data_size); ptr += data_size; } }
00048 
00049 
00050 using namespace std;
00051 
00052 namespace ros
00053 {
00054 
00055 Header::Header()
00056 : read_map_(new M_string())
00057 {
00058 
00059 }
00060 
00061 Header::~Header()
00062 {
00063 
00064 }
00065 
00066 bool Header::parse(const boost::shared_array<uint8_t>& buffer, uint32_t size, std::string& error_msg)
00067 {
00068   return parse(buffer.get(), size, error_msg);
00069 }
00070 
00071 bool Header::parse(uint8_t* buffer, uint32_t size, std::string& error_msg)
00072 {
00073   uint8_t* buf = buffer;
00074   while (buf < buffer + size)
00075   {
00076     uint32_t len;
00077     SROS_DESERIALIZE_PRIMITIVE(buf, len);
00078 
00079     if (len > 1000000)
00080     {
00081       error_msg = "Received an invalid TCPROS header.  Each element must be prepended by a 4-byte length.";
00082       ROS_ERROR("%s", error_msg.c_str());
00083 
00084       return false;
00085     }
00086 
00087     std::string line((char*)buf, len);
00088 
00089     buf += len;
00090 
00091     //printf(":%s:\n", line.c_str());
00092     size_t eqpos = line.find_first_of("=", 0);
00093     if (eqpos == string::npos)
00094     {
00095       error_msg = "Received an invalid TCPROS header.  Each line must have an equals sign.";
00096       ROS_ERROR("%s", error_msg.c_str());
00097 
00098       return false;
00099     }
00100     string key = line.substr(0, eqpos);
00101     string value = line.substr(eqpos+1);
00102 
00103     (*read_map_)[key] = value;
00104   }
00105 
00106   return true;
00107 }
00108 
00109 bool Header::getValue(const std::string& key, std::string& value) const
00110 {
00111   M_string::const_iterator it = read_map_->find(key);
00112   if (it == read_map_->end())
00113   {
00114     return false;
00115   }
00116 
00117   value = it->second;
00118 
00119   return true;
00120 }
00121 
00122 void Header::write(const M_string& key_vals, boost::shared_array<uint8_t>& buffer, uint32_t& size)
00123 {
00124   // Calculate the necessary size
00125   size = 0;
00126   {
00127     M_string::const_iterator it = key_vals.begin();
00128     M_string::const_iterator end = key_vals.end();
00129     for (; it != end; ++it)
00130     {
00131       const std::string& key = it->first;
00132       const std::string& value = it->second;
00133 
00134       size += key.length();
00135       size += value.length();
00136       size += 1; // = sign
00137       size += 4; // 4-byte length
00138     }
00139   }
00140 
00141   if (size == 0)
00142   {
00143     return;
00144   }
00145 
00146   buffer.reset(new uint8_t[size]);
00147   char* ptr = (char*)buffer.get();
00148 
00149   // Write the data
00150   {
00151     M_string::const_iterator it = key_vals.begin();
00152     M_string::const_iterator end = key_vals.end();
00153     for (; it != end; ++it)
00154     {
00155       const std::string& key = it->first;
00156       const std::string& value = it->second;
00157 
00158       uint32_t len = key.length() + value.length() + 1;
00159       SROS_SERIALIZE_PRIMITIVE(ptr, len);
00160       SROS_SERIALIZE_BUFFER(ptr, key.data(), key.length());
00161       static const char equals = '=';
00162       SROS_SERIALIZE_PRIMITIVE(ptr, equals);
00163       SROS_SERIALIZE_BUFFER(ptr, value.data(), value.length());
00164     }
00165   }
00166 
00167   ROS_ASSERT(ptr == (char*)buffer.get() + size);
00168 }
00169 
00170 }


roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Dec 28 2013 17:35:52