TopicInfo.h

00001 #ifndef _ROS_jsk_topic_tools_TopicInfo_h
00002 #define _ROS_jsk_topic_tools_TopicInfo_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace jsk_topic_tools
00010 {
00011 
00012   class TopicInfo : public ros::Msg
00013   {
00014     public:
00015       typedef const char* _topic_name_type;
00016       _topic_name_type topic_name;
00017       typedef double _rate_type;
00018       _rate_type rate;
00019 
00020     TopicInfo():
00021       topic_name(""),
00022       rate(0)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       uint32_t length_topic_name = strlen(this->topic_name);
00030       varToArr(outbuffer + offset, length_topic_name);
00031       offset += 4;
00032       memcpy(outbuffer + offset, this->topic_name, length_topic_name);
00033       offset += length_topic_name;
00034       union {
00035         double real;
00036         uint64_t base;
00037       } u_rate;
00038       u_rate.real = this->rate;
00039       *(outbuffer + offset + 0) = (u_rate.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_rate.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_rate.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_rate.base >> (8 * 3)) & 0xFF;
00043       *(outbuffer + offset + 4) = (u_rate.base >> (8 * 4)) & 0xFF;
00044       *(outbuffer + offset + 5) = (u_rate.base >> (8 * 5)) & 0xFF;
00045       *(outbuffer + offset + 6) = (u_rate.base >> (8 * 6)) & 0xFF;
00046       *(outbuffer + offset + 7) = (u_rate.base >> (8 * 7)) & 0xFF;
00047       offset += sizeof(this->rate);
00048       return offset;
00049     }
00050 
00051     virtual int deserialize(unsigned char *inbuffer)
00052     {
00053       int offset = 0;
00054       uint32_t length_topic_name;
00055       arrToVar(length_topic_name, (inbuffer + offset));
00056       offset += 4;
00057       for(unsigned int k= offset; k< offset+length_topic_name; ++k){
00058           inbuffer[k-1]=inbuffer[k];
00059       }
00060       inbuffer[offset+length_topic_name-1]=0;
00061       this->topic_name = (char *)(inbuffer + offset-1);
00062       offset += length_topic_name;
00063       union {
00064         double real;
00065         uint64_t base;
00066       } u_rate;
00067       u_rate.base = 0;
00068       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00069       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00070       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00071       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00072       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00073       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00074       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00075       u_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00076       this->rate = u_rate.real;
00077       offset += sizeof(this->rate);
00078      return offset;
00079     }
00080 
00081     virtual const char * getType(){ return "jsk_topic_tools/TopicInfo"; };
00082     virtual const char * getMD5(){ return "78edf14defd72c2fcd29e4fad0165ea9"; };
00083 
00084   };
00085 
00086 }
00087 #endif