make changes on buffer serial
controller_manager_msgs/ControllerState.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
#ifndef _ROS_controller_manager_msgs_ControllerState_h #define _ROS_controller_manager_msgs_ControllerState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "controller_manager_msgs/HardwareInterfaceResources.h" namespace controller_manager_msgs { class ControllerState : public ros::Msg { public: typedef const char* _name_type; _name_type name; typedef const char* _state_type; _state_type state; typedef const char* _type_type; _type_type type; uint32_t claimed_resources_length; typedef controller_manager_msgs::HardwareInterfaceResources _claimed_resources_type; _claimed_resources_type st_claimed_resources; _claimed_resources_type * claimed_resources; ControllerState(): name(""), state(""), type(""), claimed_resources_length(0), claimed_resources(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; uint32_t length_state = strlen(this->state); varToArr(outbuffer + offset, length_state); offset += 4; memcpy(outbuffer + offset, this->state, length_state); offset += length_state; uint32_t length_type = strlen(this->type); varToArr(outbuffer + offset, length_type); offset += 4; memcpy(outbuffer + offset, this->type, length_type); offset += length_type; *(outbuffer + offset + 0) = (this->claimed_resources_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->claimed_resources_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->claimed_resources_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->claimed_resources_length >> (8 * 3)) & 0xFF; offset += sizeof(this->claimed_resources_length); for( uint32_t i = 0; i < claimed_resources_length; i++){ offset += this->claimed_resources[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; uint32_t length_state; arrToVar(length_state, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_state; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_state-1]=0; this->state = (char *)(inbuffer + offset-1); offset += length_state; uint32_t length_type; arrToVar(length_type, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_type; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_type-1]=0; this->type = (char *)(inbuffer + offset-1); offset += length_type; uint32_t claimed_resources_lengthT = ((uint32_t) (*(inbuffer + offset))); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->claimed_resources_length); if(claimed_resources_lengthT > claimed_resources_length) this->claimed_resources = (controller_manager_msgs::HardwareInterfaceResources*)realloc(this->claimed_resources, claimed_resources_lengthT * sizeof(controller_manager_msgs::HardwareInterfaceResources)); claimed_resources_length = claimed_resources_lengthT; for( uint32_t i = 0; i < claimed_resources_length; i++){ offset += this->st_claimed_resources.deserialize(inbuffer + offset); memcpy( &(this->claimed_resources[i]), &(this->st_claimed_resources), sizeof(controller_manager_msgs::HardwareInterfaceResources)); } return offset; } const char * getType(){ return "controller_manager_msgs/ControllerState"; }; const char * getMD5(){ return "aeb6b261d97793ab74099a3740245272"; }; }; } #endif