MuxList.h

00001 #ifndef _ROS_SERVICE_MuxList_h
00002 #define _ROS_SERVICE_MuxList_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 
00008 namespace topic_tools
00009 {
00010 
00011 static const char MUXLIST[] = "topic_tools/MuxList";
00012 
00013   class MuxListRequest : public ros::Msg
00014   {
00015     public:
00016 
00017     MuxListRequest()
00018     {
00019     }
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       return offset;
00025     }
00026 
00027     virtual int deserialize(unsigned char *inbuffer)
00028     {
00029       int offset = 0;
00030      return offset;
00031     }
00032 
00033     const char * getType(){ return MUXLIST; };
00034     const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
00035 
00036   };
00037 
00038   class MuxListResponse : public ros::Msg
00039   {
00040     public:
00041       uint8_t topics_length;
00042       char* st_topics;
00043       char* * topics;
00044 
00045     MuxListResponse():
00046       topics_length(0), topics(NULL)
00047     {
00048     }
00049 
00050     virtual int serialize(unsigned char *outbuffer) const
00051     {
00052       int offset = 0;
00053       *(outbuffer + offset++) = topics_length;
00054       *(outbuffer + offset++) = 0;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       for( uint8_t i = 0; i < topics_length; i++){
00058       uint32_t length_topicsi = strlen(this->topics[i]);
00059       memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
00060       offset += 4;
00061       memcpy(outbuffer + offset, this->topics[i], length_topicsi);
00062       offset += length_topicsi;
00063       }
00064       return offset;
00065     }
00066 
00067     virtual int deserialize(unsigned char *inbuffer)
00068     {
00069       int offset = 0;
00070       uint8_t topics_lengthT = *(inbuffer + offset++);
00071       if(topics_lengthT > topics_length)
00072         this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
00073       offset += 3;
00074       topics_length = topics_lengthT;
00075       for( uint8_t i = 0; i < topics_length; i++){
00076       uint32_t length_st_topics;
00077       memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
00078       offset += 4;
00079       for(unsigned int k= offset; k< offset+length_st_topics; ++k){
00080           inbuffer[k-1]=inbuffer[k];
00081       }
00082       inbuffer[offset+length_st_topics-1]=0;
00083       this->st_topics = (char *)(inbuffer + offset-1);
00084       offset += length_st_topics;
00085         memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
00086       }
00087      return offset;
00088     }
00089 
00090     const char * getType(){ return MUXLIST; };
00091     const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
00092 
00093   };
00094 
00095   class MuxList {
00096     public:
00097     typedef MuxListRequest Request;
00098     typedef MuxListResponse Response;
00099   };
00100 
00101 }
00102 #endif