Header.h

00001 #ifndef _ROS_std_msgs_Header_h
00002 #define _ROS_std_msgs_Header_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "ros/time.h"
00009 
00010 namespace std_msgs
00011 {
00012 
00013   class Header : public ros::Msg
00014   {
00015     public:
00016       uint32_t seq;
00017       ros::Time stamp;
00018       char * frame_id;
00019 
00020     virtual int serialize(unsigned char *outbuffer) const
00021     {
00022       int offset = 0;
00023       *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
00024       *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
00025       *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
00026       *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
00027       offset += sizeof(this->seq);
00028       *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
00029       *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
00030       *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
00031       *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
00032       offset += sizeof(this->stamp.sec);
00033       *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->stamp.nsec);
00038       uint32_t * length_frame_id = (uint32_t *)(outbuffer + offset);
00039       *length_frame_id = strlen( (const char*) this->frame_id);
00040       offset += 4;
00041       memcpy(outbuffer + offset, this->frame_id, *length_frame_id);
00042       offset += *length_frame_id;
00043       return offset;
00044     }
00045 
00046     virtual int deserialize(unsigned char *inbuffer)
00047     {
00048       int offset = 0;
00049       this->seq |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00050       this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00051       this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00052       this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00053       offset += sizeof(this->seq);
00054       this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00055       this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00056       this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00057       this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00058       offset += sizeof(this->stamp.sec);
00059       this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00060       this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00061       this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00062       this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00063       offset += sizeof(this->stamp.nsec);
00064       uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset);
00065       offset += 4;
00066       for(unsigned int k= offset; k< offset+length_frame_id; ++k){
00067           inbuffer[k-1]=inbuffer[k];
00068       }
00069       inbuffer[offset+length_frame_id-1]=0;
00070       this->frame_id = (char *)(inbuffer + offset-1);
00071       offset += length_frame_id;
00072      return offset;
00073     }
00074 
00075     virtual const char * getType(){ return "std_msgs/Header"; };
00076     virtual const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
00077 
00078   };
00079 
00080 }
00081 #endif