Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

rosserial_msgs/TopicInfo.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_rosserial_msgs_TopicInfo_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_rosserial_msgs_TopicInfo_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8
akashvibhute 0:30537dec6e0b 9 namespace rosserial_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class TopicInfo : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 uint16_t topic_id;
akashvibhute 0:30537dec6e0b 16 const char* topic_name;
akashvibhute 0:30537dec6e0b 17 const char* message_type;
akashvibhute 0:30537dec6e0b 18 const char* md5sum;
akashvibhute 0:30537dec6e0b 19 int32_t buffer_size;
akashvibhute 0:30537dec6e0b 20 enum { ID_PUBLISHER = 0 };
akashvibhute 0:30537dec6e0b 21 enum { ID_SUBSCRIBER = 1 };
akashvibhute 0:30537dec6e0b 22 enum { ID_SERVICE_SERVER = 2 };
akashvibhute 0:30537dec6e0b 23 enum { ID_SERVICE_CLIENT = 4 };
akashvibhute 0:30537dec6e0b 24 enum { ID_PARAMETER_REQUEST = 6 };
akashvibhute 0:30537dec6e0b 25 enum { ID_LOG = 7 };
akashvibhute 0:30537dec6e0b 26 enum { ID_TIME = 10 };
akashvibhute 0:30537dec6e0b 27 enum { ID_TX_STOP = 11 };
akashvibhute 0:30537dec6e0b 28
akashvibhute 0:30537dec6e0b 29 TopicInfo():
akashvibhute 0:30537dec6e0b 30 topic_id(0),
akashvibhute 0:30537dec6e0b 31 topic_name(""),
akashvibhute 0:30537dec6e0b 32 message_type(""),
akashvibhute 0:30537dec6e0b 33 md5sum(""),
akashvibhute 0:30537dec6e0b 34 buffer_size(0)
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 }
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 int offset = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 offset += sizeof(this->topic_id);
akashvibhute 0:30537dec6e0b 44 uint32_t length_topic_name = strlen(this->topic_name);
akashvibhute 0:30537dec6e0b 45 memcpy(outbuffer + offset, &length_topic_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 46 offset += 4;
akashvibhute 0:30537dec6e0b 47 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
akashvibhute 0:30537dec6e0b 48 offset += length_topic_name;
akashvibhute 0:30537dec6e0b 49 uint32_t length_message_type = strlen(this->message_type);
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, &length_message_type, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 51 offset += 4;
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, this->message_type, length_message_type);
akashvibhute 0:30537dec6e0b 53 offset += length_message_type;
akashvibhute 0:30537dec6e0b 54 uint32_t length_md5sum = strlen(this->md5sum);
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, &length_md5sum, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 56 offset += 4;
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
akashvibhute 0:30537dec6e0b 58 offset += length_md5sum;
akashvibhute 0:30537dec6e0b 59 union {
akashvibhute 0:30537dec6e0b 60 int32_t real;
akashvibhute 0:30537dec6e0b 61 uint32_t base;
akashvibhute 0:30537dec6e0b 62 } u_buffer_size;
akashvibhute 0:30537dec6e0b 63 u_buffer_size.real = this->buffer_size;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 offset += sizeof(this->buffer_size);
akashvibhute 0:30537dec6e0b 69 return offset;
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 73 {
akashvibhute 0:30537dec6e0b 74 int offset = 0;
akashvibhute 0:30537dec6e0b 75 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 76 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 77 offset += sizeof(this->topic_id);
akashvibhute 0:30537dec6e0b 78 uint32_t length_topic_name;
akashvibhute 0:30537dec6e0b 79 memcpy(&length_topic_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 80 offset += 4;
akashvibhute 0:30537dec6e0b 81 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
akashvibhute 0:30537dec6e0b 82 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84 inbuffer[offset+length_topic_name-1]=0;
akashvibhute 0:30537dec6e0b 85 this->topic_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 86 offset += length_topic_name;
akashvibhute 0:30537dec6e0b 87 uint32_t length_message_type;
akashvibhute 0:30537dec6e0b 88 memcpy(&length_message_type, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 89 offset += 4;
akashvibhute 0:30537dec6e0b 90 for(unsigned int k= offset; k< offset+length_message_type; ++k){
akashvibhute 0:30537dec6e0b 91 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 92 }
akashvibhute 0:30537dec6e0b 93 inbuffer[offset+length_message_type-1]=0;
akashvibhute 0:30537dec6e0b 94 this->message_type = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 95 offset += length_message_type;
akashvibhute 0:30537dec6e0b 96 uint32_t length_md5sum;
akashvibhute 0:30537dec6e0b 97 memcpy(&length_md5sum, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 98 offset += 4;
akashvibhute 0:30537dec6e0b 99 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
akashvibhute 0:30537dec6e0b 100 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 inbuffer[offset+length_md5sum-1]=0;
akashvibhute 0:30537dec6e0b 103 this->md5sum = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 104 offset += length_md5sum;
akashvibhute 0:30537dec6e0b 105 union {
akashvibhute 0:30537dec6e0b 106 int32_t real;
akashvibhute 0:30537dec6e0b 107 uint32_t base;
akashvibhute 0:30537dec6e0b 108 } u_buffer_size;
akashvibhute 0:30537dec6e0b 109 u_buffer_size.base = 0;
akashvibhute 0:30537dec6e0b 110 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 111 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 112 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 113 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 114 this->buffer_size = u_buffer_size.real;
akashvibhute 0:30537dec6e0b 115 offset += sizeof(this->buffer_size);
akashvibhute 0:30537dec6e0b 116 return offset;
akashvibhute 0:30537dec6e0b 117 }
akashvibhute 0:30537dec6e0b 118
akashvibhute 0:30537dec6e0b 119 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
akashvibhute 0:30537dec6e0b 120 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
akashvibhute 0:30537dec6e0b 121
akashvibhute 0:30537dec6e0b 122 };
akashvibhute 0:30537dec6e0b 123
akashvibhute 0:30537dec6e0b 124 }
akashvibhute 0:30537dec6e0b 125 #endif