Group.h

00001 #ifndef _ROS_dynamic_reconfigure_Group_h
00002 #define _ROS_dynamic_reconfigure_Group_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "dynamic_reconfigure/ParamDescription.h"
00009 
00010 namespace dynamic_reconfigure
00011 {
00012 
00013   class Group : public ros::Msg
00014   {
00015     public:
00016       const char* name;
00017       const char* type;
00018       uint8_t parameters_length;
00019       dynamic_reconfigure::ParamDescription st_parameters;
00020       dynamic_reconfigure::ParamDescription * parameters;
00021       int32_t parent;
00022       int32_t id;
00023 
00024     Group():
00025       name(""),
00026       type(""),
00027       parameters_length(0), parameters(NULL),
00028       parent(0),
00029       id(0)
00030     {
00031     }
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       uint32_t length_name = strlen(this->name);
00037       memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
00038       offset += 4;
00039       memcpy(outbuffer + offset, this->name, length_name);
00040       offset += length_name;
00041       uint32_t length_type = strlen(this->type);
00042       memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
00043       offset += 4;
00044       memcpy(outbuffer + offset, this->type, length_type);
00045       offset += length_type;
00046       *(outbuffer + offset++) = parameters_length;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = 0;
00049       *(outbuffer + offset++) = 0;
00050       for( uint8_t i = 0; i < parameters_length; i++){
00051       offset += this->parameters[i].serialize(outbuffer + offset);
00052       }
00053       union {
00054         int32_t real;
00055         uint32_t base;
00056       } u_parent;
00057       u_parent.real = this->parent;
00058       *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
00059       *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
00060       *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
00061       *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
00062       offset += sizeof(this->parent);
00063       union {
00064         int32_t real;
00065         uint32_t base;
00066       } u_id;
00067       u_id.real = this->id;
00068       *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
00072       offset += sizeof(this->id);
00073       return offset;
00074     }
00075 
00076     virtual int deserialize(unsigned char *inbuffer)
00077     {
00078       int offset = 0;
00079       uint32_t length_name;
00080       memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
00081       offset += 4;
00082       for(unsigned int k= offset; k< offset+length_name; ++k){
00083           inbuffer[k-1]=inbuffer[k];
00084       }
00085       inbuffer[offset+length_name-1]=0;
00086       this->name = (char *)(inbuffer + offset-1);
00087       offset += length_name;
00088       uint32_t length_type;
00089       memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
00090       offset += 4;
00091       for(unsigned int k= offset; k< offset+length_type; ++k){
00092           inbuffer[k-1]=inbuffer[k];
00093       }
00094       inbuffer[offset+length_type-1]=0;
00095       this->type = (char *)(inbuffer + offset-1);
00096       offset += length_type;
00097       uint8_t parameters_lengthT = *(inbuffer + offset++);
00098       if(parameters_lengthT > parameters_length)
00099         this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
00100       offset += 3;
00101       parameters_length = parameters_lengthT;
00102       for( uint8_t i = 0; i < parameters_length; i++){
00103       offset += this->st_parameters.deserialize(inbuffer + offset);
00104         memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
00105       }
00106       union {
00107         int32_t real;
00108         uint32_t base;
00109       } u_parent;
00110       u_parent.base = 0;
00111       u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00112       u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00113       u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00114       u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00115       this->parent = u_parent.real;
00116       offset += sizeof(this->parent);
00117       union {
00118         int32_t real;
00119         uint32_t base;
00120       } u_id;
00121       u_id.base = 0;
00122       u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00123       u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00124       u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00125       u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00126       this->id = u_id.real;
00127       offset += sizeof(this->id);
00128      return offset;
00129     }
00130 
00131     const char * getType(){ return "dynamic_reconfigure/Group"; };
00132     const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
00133 
00134   };
00135 
00136 }
00137 #endif