Gary Servin / rosserial_mbed_lib

Personal fork

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

rosserial_msgs/TopicInfo.h@1:ff0ec969dad1, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:19:36 2011 +0000
Revision:
1:ff0ec969dad1
Parent:
0:77afd7560544
Child:
3:1cf99502f396
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:ff0ec969dad1 1 #ifndef ros_rosserial_msgs_TopicInfo_h
nucho 1:ff0ec969dad1 2 #define ros_rosserial_msgs_TopicInfo_h
nucho 0:77afd7560544 3
nucho 0:77afd7560544 4 #include <stdint.h>
nucho 0:77afd7560544 5 #include <string.h>
nucho 0:77afd7560544 6 #include <stdlib.h>
nucho 0:77afd7560544 7 #include "../ros/msg.h"
nucho 0:77afd7560544 8 namespace rosserial_msgs
nucho 0:77afd7560544 9 {
nucho 0:77afd7560544 10 class TopicInfo : public ros::Msg
nucho 0:77afd7560544 11 {
nucho 0:77afd7560544 12 public:
nucho 0:77afd7560544 13 unsigned short topic_id;
nucho 0:77afd7560544 14 char * topic_name;
nucho 0:77afd7560544 15 char * message_type;
nucho 1:ff0ec969dad1 16 char * md5_checksum;
nucho 0:77afd7560544 17 enum { ID_PUBLISHER = 0 };
nucho 0:77afd7560544 18 enum { ID_SUBSCRIBER = 1 };
nucho 0:77afd7560544 19 enum { ID_SERVICE_SERVER = 2 };
nucho 0:77afd7560544 20 enum { ID_SERVICE_CLIENT = 3 };
nucho 0:77afd7560544 21 enum { ID_PARAMETER_REQUEST = 4 };
nucho 0:77afd7560544 22 enum { ID_LOG = 5 };
nucho 0:77afd7560544 23 enum { ID_TIME = 10 };
nucho 0:77afd7560544 24
nucho 0:77afd7560544 25 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 26 {
nucho 0:77afd7560544 27 int offset = 0;
nucho 0:77afd7560544 28 union {
nucho 1:ff0ec969dad1 29 uint16_t real;
nucho 1:ff0ec969dad1 30 uint16_t base;
nucho 0:77afd7560544 31 } u_topic_id;
nucho 0:77afd7560544 32 u_topic_id.real = this->topic_id;
nucho 0:77afd7560544 33 *(outbuffer + offset + 0) = (u_topic_id.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 34 *(outbuffer + offset + 1) = (u_topic_id.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 35 offset += sizeof(this->topic_id);
nucho 1:ff0ec969dad1 36
nucho 0:77afd7560544 37 long * length_topic_name = (long *)(outbuffer + offset);
nucho 0:77afd7560544 38 *length_topic_name = strlen( (const char*) this->topic_name);
nucho 0:77afd7560544 39 offset += 4;
nucho 0:77afd7560544 40 memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
nucho 0:77afd7560544 41 offset += *length_topic_name;
nucho 1:ff0ec969dad1 42
nucho 0:77afd7560544 43 long * length_message_type = (long *)(outbuffer + offset);
nucho 0:77afd7560544 44 *length_message_type = strlen( (const char*) this->message_type);
nucho 0:77afd7560544 45 offset += 4;
nucho 0:77afd7560544 46 memcpy(outbuffer + offset, this->message_type, *length_message_type);
nucho 0:77afd7560544 47 offset += *length_message_type;
nucho 1:ff0ec969dad1 48
nucho 1:ff0ec969dad1 49 long * length_md5_checksum = (long *)(outbuffer + offset);
nucho 1:ff0ec969dad1 50 *length_md5_checksum = strlen( (const char*) this->md5_checksum);
nucho 1:ff0ec969dad1 51 offset += 4;
nucho 1:ff0ec969dad1 52 memcpy(outbuffer + offset, this->md5_checksum, *length_md5_checksum);
nucho 1:ff0ec969dad1 53 offset += *length_md5_checksum;
nucho 1:ff0ec969dad1 54
nucho 0:77afd7560544 55 return offset;
nucho 0:77afd7560544 56 }
nucho 0:77afd7560544 57
nucho 0:77afd7560544 58 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 59 {
nucho 0:77afd7560544 60 int offset = 0;
nucho 0:77afd7560544 61 union {
nucho 0:77afd7560544 62 unsigned short real;
nucho 0:77afd7560544 63 unsigned short base;
nucho 0:77afd7560544 64 } u_topic_id;
nucho 0:77afd7560544 65 u_topic_id.base = 0;
nucho 0:77afd7560544 66 u_topic_id.base |= ((typeof(u_topic_id.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 67 u_topic_id.base |= ((typeof(u_topic_id.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 68 this->topic_id = u_topic_id.real;
nucho 0:77afd7560544 69 offset += sizeof(this->topic_id);
nucho 0:77afd7560544 70 uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 71 offset += 4;
nucho 0:77afd7560544 72 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
nucho 0:77afd7560544 73 inbuffer[k-1]=inbuffer[k];
nucho 0:77afd7560544 74 }
nucho 0:77afd7560544 75 inbuffer[offset+length_topic_name-1]=0;
nucho 0:77afd7560544 76 this->topic_name = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 77 offset += length_topic_name;
nucho 0:77afd7560544 78 uint32_t length_message_type = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 79 offset += 4;
nucho 0:77afd7560544 80 for(unsigned int k= offset; k< offset+length_message_type; ++k){
nucho 0:77afd7560544 81 inbuffer[k-1]=inbuffer[k];
nucho 0:77afd7560544 82 }
nucho 0:77afd7560544 83 inbuffer[offset+length_message_type-1]=0;
nucho 0:77afd7560544 84 this->message_type = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 85 offset += length_message_type;
nucho 1:ff0ec969dad1 86
nucho 1:ff0ec969dad1 87 uint32_t length_md5_checksum = *(uint32_t *)(inbuffer + offset);
nucho 1:ff0ec969dad1 88 offset += 4;
nucho 1:ff0ec969dad1 89 for(unsigned int k= offset; k< offset+length_md5_checksum; ++k){
nucho 1:ff0ec969dad1 90 inbuffer[k-1]=inbuffer[k];
nucho 1:ff0ec969dad1 91 }
nucho 1:ff0ec969dad1 92 inbuffer[offset+length_md5_checksum-1]=0;
nucho 1:ff0ec969dad1 93 this->md5_checksum = (char *)(inbuffer + offset-1);
nucho 1:ff0ec969dad1 94 offset += length_md5_checksum;
nucho 1:ff0ec969dad1 95
nucho 0:77afd7560544 96 return offset;
nucho 0:77afd7560544 97 }
nucho 0:77afd7560544 98
nucho 0:77afd7560544 99 virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };
nucho 0:77afd7560544 100
nucho 0:77afd7560544 101 };
nucho 0:77afd7560544 102
nucho 0:77afd7560544 103 }
nucho 0:77afd7560544 104 #endif