InteractiveMarkerUpdate.h

00001 #ifndef _ROS_visualization_msgs_InteractiveMarkerUpdate_h
00002 #define _ROS_visualization_msgs_InteractiveMarkerUpdate_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "visualization_msgs/InteractiveMarker.h"
00009 #include "visualization_msgs/InteractiveMarkerPose.h"
00010 
00011 namespace visualization_msgs
00012 {
00013 
00014   class InteractiveMarkerUpdate : public ros::Msg
00015   {
00016     public:
00017       typedef const char* _server_id_type;
00018       _server_id_type server_id;
00019       typedef uint64_t _seq_num_type;
00020       _seq_num_type seq_num;
00021       typedef uint8_t _type_type;
00022       _type_type type;
00023       uint32_t markers_length;
00024       typedef visualization_msgs::InteractiveMarker _markers_type;
00025       _markers_type st_markers;
00026       _markers_type * markers;
00027       uint32_t poses_length;
00028       typedef visualization_msgs::InteractiveMarkerPose _poses_type;
00029       _poses_type st_poses;
00030       _poses_type * poses;
00031       uint32_t erases_length;
00032       typedef char* _erases_type;
00033       _erases_type st_erases;
00034       _erases_type * erases;
00035       enum { KEEP_ALIVE =  0 };
00036       enum { UPDATE =  1 };
00037 
00038     InteractiveMarkerUpdate():
00039       server_id(""),
00040       seq_num(0),
00041       type(0),
00042       markers_length(0), markers(NULL),
00043       poses_length(0), poses(NULL),
00044       erases_length(0), erases(NULL)
00045     {
00046     }
00047 
00048     virtual int serialize(unsigned char *outbuffer) const
00049     {
00050       int offset = 0;
00051       uint32_t length_server_id = strlen(this->server_id);
00052       varToArr(outbuffer + offset, length_server_id);
00053       offset += 4;
00054       memcpy(outbuffer + offset, this->server_id, length_server_id);
00055       offset += length_server_id;
00056       union {
00057         uint64_t real;
00058         uint32_t base;
00059       } u_seq_num;
00060       u_seq_num.real = this->seq_num;
00061       *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
00062       *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
00063       *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
00064       *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
00065       offset += sizeof(this->seq_num);
00066       *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00067       offset += sizeof(this->type);
00068       *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
00072       offset += sizeof(this->markers_length);
00073       for( uint32_t i = 0; i < markers_length; i++){
00074       offset += this->markers[i].serialize(outbuffer + offset);
00075       }
00076       *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
00077       *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
00078       *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
00079       *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
00080       offset += sizeof(this->poses_length);
00081       for( uint32_t i = 0; i < poses_length; i++){
00082       offset += this->poses[i].serialize(outbuffer + offset);
00083       }
00084       *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF;
00085       *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF;
00086       *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF;
00087       *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF;
00088       offset += sizeof(this->erases_length);
00089       for( uint32_t i = 0; i < erases_length; i++){
00090       uint32_t length_erasesi = strlen(this->erases[i]);
00091       varToArr(outbuffer + offset, length_erasesi);
00092       offset += 4;
00093       memcpy(outbuffer + offset, this->erases[i], length_erasesi);
00094       offset += length_erasesi;
00095       }
00096       return offset;
00097     }
00098 
00099     virtual int deserialize(unsigned char *inbuffer)
00100     {
00101       int offset = 0;
00102       uint32_t length_server_id;
00103       arrToVar(length_server_id, (inbuffer + offset));
00104       offset += 4;
00105       for(unsigned int k= offset; k< offset+length_server_id; ++k){
00106           inbuffer[k-1]=inbuffer[k];
00107       }
00108       inbuffer[offset+length_server_id-1]=0;
00109       this->server_id = (char *)(inbuffer + offset-1);
00110       offset += length_server_id;
00111       union {
00112         uint64_t real;
00113         uint32_t base;
00114       } u_seq_num;
00115       u_seq_num.base = 0;
00116       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00117       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00118       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00119       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00120       this->seq_num = u_seq_num.real;
00121       offset += sizeof(this->seq_num);
00122       this->type =  ((uint8_t) (*(inbuffer + offset)));
00123       offset += sizeof(this->type);
00124       uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00125       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00126       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00127       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00128       offset += sizeof(this->markers_length);
00129       if(markers_lengthT > markers_length)
00130         this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
00131       markers_length = markers_lengthT;
00132       for( uint32_t i = 0; i < markers_length; i++){
00133       offset += this->st_markers.deserialize(inbuffer + offset);
00134         memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
00135       }
00136       uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00137       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00138       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00139       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00140       offset += sizeof(this->poses_length);
00141       if(poses_lengthT > poses_length)
00142         this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
00143       poses_length = poses_lengthT;
00144       for( uint32_t i = 0; i < poses_length; i++){
00145       offset += this->st_poses.deserialize(inbuffer + offset);
00146         memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
00147       }
00148       uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00149       erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00150       erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00151       erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00152       offset += sizeof(this->erases_length);
00153       if(erases_lengthT > erases_length)
00154         this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
00155       erases_length = erases_lengthT;
00156       for( uint32_t i = 0; i < erases_length; i++){
00157       uint32_t length_st_erases;
00158       arrToVar(length_st_erases, (inbuffer + offset));
00159       offset += 4;
00160       for(unsigned int k= offset; k< offset+length_st_erases; ++k){
00161           inbuffer[k-1]=inbuffer[k];
00162       }
00163       inbuffer[offset+length_st_erases-1]=0;
00164       this->st_erases = (char *)(inbuffer + offset-1);
00165       offset += length_st_erases;
00166         memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
00167       }
00168      return offset;
00169     }
00170 
00171     const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
00172     const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; };
00173 
00174   };
00175 
00176 }
00177 #endif