TopicInfo.h

00001 #ifndef _ROS_rosserial_msgs_TopicInfo_h
00002 #define _ROS_rosserial_msgs_TopicInfo_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace rosserial_msgs
00010 {
00011 
00012   class TopicInfo : public ros::Msg
00013   {
00014     public:
00015       uint16_t topic_id;
00016       char * topic_name;
00017       char * message_type;
00018       char * md5sum;
00019       int32_t buffer_size;
00020       enum { ID_PUBLISHER = 0 };
00021       enum { ID_SUBSCRIBER = 1 };
00022       enum { ID_SERVICE_SERVER = 2 };
00023       enum { ID_SERVICE_CLIENT = 4 };
00024       enum { ID_PARAMETER_REQUEST = 6 };
00025       enum { ID_LOG = 7 };
00026       enum { ID_TIME = 10 };
00027 
00028     virtual int serialize(unsigned char *outbuffer) const
00029     {
00030       int offset = 0;
00031       *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
00032       *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
00033       offset += sizeof(this->topic_id);
00034       uint32_t * length_topic_name = (uint32_t *)(outbuffer + offset);
00035       *length_topic_name = strlen( (const char*) this->topic_name);
00036       offset += 4;
00037       memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
00038       offset += *length_topic_name;
00039       uint32_t * length_message_type = (uint32_t *)(outbuffer + offset);
00040       *length_message_type = strlen( (const char*) this->message_type);
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->message_type, *length_message_type);
00043       offset += *length_message_type;
00044       uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset);
00045       *length_md5sum = strlen( (const char*) this->md5sum);
00046       offset += 4;
00047       memcpy(outbuffer + offset, this->md5sum, *length_md5sum);
00048       offset += *length_md5sum;
00049       union {
00050         int32_t real;
00051         uint32_t base;
00052       } u_buffer_size;
00053       u_buffer_size.real = this->buffer_size;
00054       *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
00055       *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
00056       *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
00057       *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
00058       offset += sizeof(this->buffer_size);
00059       return offset;
00060     }
00061 
00062     virtual int deserialize(unsigned char *inbuffer)
00063     {
00064       int offset = 0;
00065       this->topic_id |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
00066       this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00067       offset += sizeof(this->topic_id);
00068       uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);
00069       offset += 4;
00070       for(unsigned int k= offset; k< offset+length_topic_name; ++k){
00071           inbuffer[k-1]=inbuffer[k];
00072       }
00073       inbuffer[offset+length_topic_name-1]=0;
00074       this->topic_name = (char *)(inbuffer + offset-1);
00075       offset += length_topic_name;
00076       uint32_t length_message_type = *(uint32_t *)(inbuffer + offset);
00077       offset += 4;
00078       for(unsigned int k= offset; k< offset+length_message_type; ++k){
00079           inbuffer[k-1]=inbuffer[k];
00080       }
00081       inbuffer[offset+length_message_type-1]=0;
00082       this->message_type = (char *)(inbuffer + offset-1);
00083       offset += length_message_type;
00084       uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset);
00085       offset += 4;
00086       for(unsigned int k= offset; k< offset+length_md5sum; ++k){
00087           inbuffer[k-1]=inbuffer[k];
00088       }
00089       inbuffer[offset+length_md5sum-1]=0;
00090       this->md5sum = (char *)(inbuffer + offset-1);
00091       offset += length_md5sum;
00092       union {
00093         int32_t real;
00094         uint32_t base;
00095       } u_buffer_size;
00096       u_buffer_size.base = 0;
00097       u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00098       u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00099       u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00100       u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00101       this->buffer_size = u_buffer_size.real;
00102       offset += sizeof(this->buffer_size);
00103      return offset;
00104     }
00105 
00106     virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };
00107     virtual const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
00108 
00109   };
00110 
00111 }
00112 #endif