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       const char* server_id;
00018       uint64_t seq_num;
00019       uint8_t type;
00020       uint8_t markers_length;
00021       visualization_msgs::InteractiveMarker st_markers;
00022       visualization_msgs::InteractiveMarker * markers;
00023       uint8_t poses_length;
00024       visualization_msgs::InteractiveMarkerPose st_poses;
00025       visualization_msgs::InteractiveMarkerPose * poses;
00026       uint8_t erases_length;
00027       char* st_erases;
00028       char* * erases;
00029       enum { KEEP_ALIVE =  0 };
00030       enum { UPDATE =  1 };
00031 
00032     InteractiveMarkerUpdate():
00033       server_id(""),
00034       seq_num(0),
00035       type(0),
00036       markers_length(0), markers(NULL),
00037       poses_length(0), poses(NULL),
00038       erases_length(0), erases(NULL)
00039     {
00040     }
00041 
00042     virtual int serialize(unsigned char *outbuffer) const
00043     {
00044       int offset = 0;
00045       uint32_t length_server_id = strlen(this->server_id);
00046       memcpy(outbuffer + offset, &length_server_id, sizeof(uint32_t));
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->server_id, length_server_id);
00049       offset += length_server_id;
00050       union {
00051         uint64_t real;
00052         uint32_t base;
00053       } u_seq_num;
00054       u_seq_num.real = this->seq_num;
00055       *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
00059       offset += sizeof(this->seq_num);
00060       *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00061       offset += sizeof(this->type);
00062       *(outbuffer + offset++) = markers_length;
00063       *(outbuffer + offset++) = 0;
00064       *(outbuffer + offset++) = 0;
00065       *(outbuffer + offset++) = 0;
00066       for( uint8_t i = 0; i < markers_length; i++){
00067       offset += this->markers[i].serialize(outbuffer + offset);
00068       }
00069       *(outbuffer + offset++) = poses_length;
00070       *(outbuffer + offset++) = 0;
00071       *(outbuffer + offset++) = 0;
00072       *(outbuffer + offset++) = 0;
00073       for( uint8_t i = 0; i < poses_length; i++){
00074       offset += this->poses[i].serialize(outbuffer + offset);
00075       }
00076       *(outbuffer + offset++) = erases_length;
00077       *(outbuffer + offset++) = 0;
00078       *(outbuffer + offset++) = 0;
00079       *(outbuffer + offset++) = 0;
00080       for( uint8_t i = 0; i < erases_length; i++){
00081       uint32_t length_erasesi = strlen(this->erases[i]);
00082       memcpy(outbuffer + offset, &length_erasesi, sizeof(uint32_t));
00083       offset += 4;
00084       memcpy(outbuffer + offset, this->erases[i], length_erasesi);
00085       offset += length_erasesi;
00086       }
00087       return offset;
00088     }
00089 
00090     virtual int deserialize(unsigned char *inbuffer)
00091     {
00092       int offset = 0;
00093       uint32_t length_server_id;
00094       memcpy(&length_server_id, (inbuffer + offset), sizeof(uint32_t));
00095       offset += 4;
00096       for(unsigned int k= offset; k< offset+length_server_id; ++k){
00097           inbuffer[k-1]=inbuffer[k];
00098       }
00099       inbuffer[offset+length_server_id-1]=0;
00100       this->server_id = (char *)(inbuffer + offset-1);
00101       offset += length_server_id;
00102       union {
00103         uint64_t real;
00104         uint32_t base;
00105       } u_seq_num;
00106       u_seq_num.base = 0;
00107       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00108       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00109       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00110       u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00111       this->seq_num = u_seq_num.real;
00112       offset += sizeof(this->seq_num);
00113       this->type =  ((uint8_t) (*(inbuffer + offset)));
00114       offset += sizeof(this->type);
00115       uint8_t markers_lengthT = *(inbuffer + offset++);
00116       if(markers_lengthT > markers_length)
00117         this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
00118       offset += 3;
00119       markers_length = markers_lengthT;
00120       for( uint8_t i = 0; i < markers_length; i++){
00121       offset += this->st_markers.deserialize(inbuffer + offset);
00122         memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
00123       }
00124       uint8_t poses_lengthT = *(inbuffer + offset++);
00125       if(poses_lengthT > poses_length)
00126         this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
00127       offset += 3;
00128       poses_length = poses_lengthT;
00129       for( uint8_t i = 0; i < poses_length; i++){
00130       offset += this->st_poses.deserialize(inbuffer + offset);
00131         memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
00132       }
00133       uint8_t erases_lengthT = *(inbuffer + offset++);
00134       if(erases_lengthT > erases_length)
00135         this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
00136       offset += 3;
00137       erases_length = erases_lengthT;
00138       for( uint8_t i = 0; i < erases_length; i++){
00139       uint32_t length_st_erases;
00140       memcpy(&length_st_erases, (inbuffer + offset), sizeof(uint32_t));
00141       offset += 4;
00142       for(unsigned int k= offset; k< offset+length_st_erases; ++k){
00143           inbuffer[k-1]=inbuffer[k];
00144       }
00145       inbuffer[offset+length_st_erases-1]=0;
00146       this->st_erases = (char *)(inbuffer + offset-1);
00147       offset += length_st_erases;
00148         memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
00149       }
00150      return offset;
00151     }
00152 
00153     const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
00154     const char * getMD5(){ return "83e22f99d3b31fde725e0a338200e036"; };
00155 
00156   };
00157 
00158 }
00159 #endif