Fork of ROS Serial Library
Dependencies: BufferedSerial
rosserial_msgs/TopicInfo.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_rosserial_msgs_TopicInfo_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_rosserial_msgs_TopicInfo_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace rosserial_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class TopicInfo : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | typedef uint16_t _topic_id_type; |
garyservin | 0:9e9b7db60fd5 | 16 | _topic_id_type topic_id; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef const char* _topic_name_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _topic_name_type topic_name; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef const char* _message_type_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _message_type_type message_type; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef const char* _md5sum_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _md5sum_type md5sum; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef int32_t _buffer_size_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _buffer_size_type buffer_size; |
garyservin | 0:9e9b7db60fd5 | 25 | enum { ID_PUBLISHER = 0 }; |
garyservin | 0:9e9b7db60fd5 | 26 | enum { ID_SUBSCRIBER = 1 }; |
garyservin | 0:9e9b7db60fd5 | 27 | enum { ID_SERVICE_SERVER = 2 }; |
garyservin | 0:9e9b7db60fd5 | 28 | enum { ID_SERVICE_CLIENT = 4 }; |
garyservin | 0:9e9b7db60fd5 | 29 | enum { ID_PARAMETER_REQUEST = 6 }; |
garyservin | 0:9e9b7db60fd5 | 30 | enum { ID_LOG = 7 }; |
garyservin | 0:9e9b7db60fd5 | 31 | enum { ID_TIME = 10 }; |
garyservin | 0:9e9b7db60fd5 | 32 | enum { ID_TX_STOP = 11 }; |
garyservin | 0:9e9b7db60fd5 | 33 | |
garyservin | 0:9e9b7db60fd5 | 34 | TopicInfo(): |
garyservin | 0:9e9b7db60fd5 | 35 | topic_id(0), |
garyservin | 0:9e9b7db60fd5 | 36 | topic_name(""), |
garyservin | 0:9e9b7db60fd5 | 37 | message_type(""), |
garyservin | 0:9e9b7db60fd5 | 38 | md5sum(""), |
garyservin | 0:9e9b7db60fd5 | 39 | buffer_size(0) |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | } |
garyservin | 0:9e9b7db60fd5 | 42 | |
garyservin | 0:9e9b7db60fd5 | 43 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 44 | { |
garyservin | 0:9e9b7db60fd5 | 45 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | offset += sizeof(this->topic_id); |
garyservin | 0:9e9b7db60fd5 | 49 | uint32_t length_topic_name = strlen(this->topic_name); |
garyservin | 0:9e9b7db60fd5 | 50 | varToArr(outbuffer + offset, length_topic_name); |
garyservin | 0:9e9b7db60fd5 | 51 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 52 | memcpy(outbuffer + offset, this->topic_name, length_topic_name); |
garyservin | 0:9e9b7db60fd5 | 53 | offset += length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 54 | uint32_t length_message_type = strlen(this->message_type); |
garyservin | 0:9e9b7db60fd5 | 55 | varToArr(outbuffer + offset, length_message_type); |
garyservin | 0:9e9b7db60fd5 | 56 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 57 | memcpy(outbuffer + offset, this->message_type, length_message_type); |
garyservin | 0:9e9b7db60fd5 | 58 | offset += length_message_type; |
garyservin | 0:9e9b7db60fd5 | 59 | uint32_t length_md5sum = strlen(this->md5sum); |
garyservin | 0:9e9b7db60fd5 | 60 | varToArr(outbuffer + offset, length_md5sum); |
garyservin | 0:9e9b7db60fd5 | 61 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 62 | memcpy(outbuffer + offset, this->md5sum, length_md5sum); |
garyservin | 0:9e9b7db60fd5 | 63 | offset += length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 64 | union { |
garyservin | 0:9e9b7db60fd5 | 65 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 66 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 67 | } u_buffer_size; |
garyservin | 0:9e9b7db60fd5 | 68 | u_buffer_size.real = this->buffer_size; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 73 | offset += sizeof(this->buffer_size); |
garyservin | 0:9e9b7db60fd5 | 74 | return offset; |
garyservin | 0:9e9b7db60fd5 | 75 | } |
garyservin | 0:9e9b7db60fd5 | 76 | |
garyservin | 0:9e9b7db60fd5 | 77 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 78 | { |
garyservin | 0:9e9b7db60fd5 | 79 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 80 | this->topic_id = ((uint16_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 81 | this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += sizeof(this->topic_id); |
garyservin | 0:9e9b7db60fd5 | 83 | uint32_t length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 84 | arrToVar(length_topic_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 85 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 86 | for(unsigned int k= offset; k< offset+length_topic_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 87 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 88 | } |
garyservin | 0:9e9b7db60fd5 | 89 | inbuffer[offset+length_topic_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 90 | this->topic_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 91 | offset += length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 92 | uint32_t length_message_type; |
garyservin | 0:9e9b7db60fd5 | 93 | arrToVar(length_message_type, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 94 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 95 | for(unsigned int k= offset; k< offset+length_message_type; ++k){ |
garyservin | 0:9e9b7db60fd5 | 96 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 97 | } |
garyservin | 0:9e9b7db60fd5 | 98 | inbuffer[offset+length_message_type-1]=0; |
garyservin | 0:9e9b7db60fd5 | 99 | this->message_type = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 100 | offset += length_message_type; |
garyservin | 0:9e9b7db60fd5 | 101 | uint32_t length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 102 | arrToVar(length_md5sum, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 103 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 104 | for(unsigned int k= offset; k< offset+length_md5sum; ++k){ |
garyservin | 0:9e9b7db60fd5 | 105 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 106 | } |
garyservin | 0:9e9b7db60fd5 | 107 | inbuffer[offset+length_md5sum-1]=0; |
garyservin | 0:9e9b7db60fd5 | 108 | this->md5sum = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 109 | offset += length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 110 | union { |
garyservin | 0:9e9b7db60fd5 | 111 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 112 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 113 | } u_buffer_size; |
garyservin | 0:9e9b7db60fd5 | 114 | u_buffer_size.base = 0; |
garyservin | 0:9e9b7db60fd5 | 115 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 116 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 117 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 118 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 119 | this->buffer_size = u_buffer_size.real; |
garyservin | 0:9e9b7db60fd5 | 120 | offset += sizeof(this->buffer_size); |
garyservin | 0:9e9b7db60fd5 | 121 | return offset; |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | |
garyservin | 0:9e9b7db60fd5 | 124 | const char * getType(){ return "rosserial_msgs/TopicInfo"; }; |
garyservin | 0:9e9b7db60fd5 | 125 | const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; }; |
garyservin | 0:9e9b7db60fd5 | 126 | |
garyservin | 0:9e9b7db60fd5 | 127 | }; |
garyservin | 0:9e9b7db60fd5 | 128 | |
garyservin | 0:9e9b7db60fd5 | 129 | } |
garyservin | 0:9e9b7db60fd5 | 130 | #endif |