Class: ROS::TCPROS::Header

Inherits:

Object

• Object
• ROS::TCPROS::Header

show all

Defined in:

lib/ros/tcpros/header.rb

Overview

Constant Summary

WILD_CARD =

rosrpc uses this wild card for cancel md5sum check or any.

'*'

Instance Method Summary (collapse)

• - (Header) deserialize(data)

  deserialize the data to header.

• - (String) get_data(key) (also: #[])

  Value of key.

• - (Header) initialize(data = {}) constructor

  initialize with hash.

• - (Header) push_data(key, value) (also: #[]=)

  add key-value data to this header.

• - (Integer) serialize(buff)

  serialize the data into header.

• - (Boolean) valid?(key, value)

  validate the key with the value.

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# File 'lib/ros/tcpros/header.rb', line 22

def initialize(data={})
  @data = data
end

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# File 'lib/ros/tcpros/header.rb', line 51

def deserialize(data)
  while data.length > 0
    len, data = data.unpack('Va*')
    msg = data[0..(len-1)]
    equal_position = msg.index('=')
    key = msg[0..(equal_position-1)]
    value = msg[(equal_position+1)..-1]
    @data[key] = value
    data = data[(len)..-1]
  end
  self
end

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# File 'lib/ros/tcpros/header.rb', line 40

def get_data(key)
  @data[key]
end

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# File 'lib/ros/tcpros/header.rb', line 30

def push_data(key, value)
  if (not key.kind_of?(String)) or (not value.kind_of?(String))
    raise ArgumentError::new('header key and value must be string')
  end
  @data[key] = value
  self
end

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# File 'lib/ros/tcpros/header.rb', line 78

def serialize(buff)
  serialized_data = ''
  @data.each_pair do |key, value|
    data_str = key + '=' + value
    serialized_data = serialized_data + [data_str.length, data_str].pack('Va*')
  end
  total_byte = serialized_data.length
  return buff.write([total_byte, serialized_data].pack('Va*'))
end

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# File 'lib/ros/tcpros/header.rb', line 70

def valid?(key, value)
  (@data[key] == value) or value == WILD_CARD
end