Class: ROS::Struct

Inherits:

Object

• Object
• ROS::Struct

show all

Defined in:

lib/ros/message.rb

Overview

Instance Attribute Summary (collapse)

• - (String) format readonly

  get the format string.

Class Method Summary (collapse)

• + (Integer) calc_size(format)

  Calc the size.

Instance Method Summary (collapse)

• - (Struct) initialize(format) constructor

  A new instance of Struct.

• - (Object) pack(*args)

  pack the data.

• - (Array) unpack(arg)

  unpack from string.

26
27
28

# File 'lib/ros/message.rb', line 26

def initialize(format)
  @format = format
end

33
34
35

# File 'lib/ros/message.rb', line 33

def format
  @format
end

39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56

# File 'lib/ros/message.rb', line 39

def self.calc_size(format)
  array = []
  start = 0
  while start < format.length
    re = /(\w)(\d*)/
    re =~ format[start..(format.length-1)]
    number = $2.to_i
    if number == 0
      array.push(0)
    else
      for i in 1..number
        array.push(0)
      end
    end
    start += $&.length
  end
  array.pack(format).length
end

60
61
62

# File 'lib/ros/message.rb', line 60

def pack(*args)
  args.pack(@format)
end

67
68
69

# File 'lib/ros/message.rb', line 67

def unpack(arg)
  arg.unpack(@format)
end