HeaderString.h

00001 #ifndef _ROS_rospy_tutorials_HeaderString_h
00002 #define _ROS_rospy_tutorials_HeaderString_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace rospy_tutorials
00011 {
00012 
00013   class HeaderString : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       const char* data;
00018 
00019     HeaderString():
00020       header(),
00021       data("")
00022     {
00023     }
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       offset += this->header.serialize(outbuffer + offset);
00029       uint32_t length_data = strlen(this->data);
00030       memcpy(outbuffer + offset, &length_data, sizeof(uint32_t));
00031       offset += 4;
00032       memcpy(outbuffer + offset, this->data, length_data);
00033       offset += length_data;
00034       return offset;
00035     }
00036 
00037     virtual int deserialize(unsigned char *inbuffer)
00038     {
00039       int offset = 0;
00040       offset += this->header.deserialize(inbuffer + offset);
00041       uint32_t length_data;
00042       memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t));
00043       offset += 4;
00044       for(unsigned int k= offset; k< offset+length_data; ++k){
00045           inbuffer[k-1]=inbuffer[k];
00046       }
00047       inbuffer[offset+length_data-1]=0;
00048       this->data = (char *)(inbuffer + offset-1);
00049       offset += length_data;
00050      return offset;
00051     }
00052 
00053     const char * getType(){ return "rospy_tutorials/HeaderString"; };
00054     const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
00055 
00056   };
00057 
00058 }
00059 #endif