John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

rosserial_msgs/TopicInfo.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_rosserial_msgs_TopicInfo_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_rosserial_msgs_TopicInfo_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace rosserial_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class TopicInfo : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef uint16_t _topic_id_type;
Gary Servin 0:04ac6be8229a 16 _topic_id_type topic_id;
Gary Servin 0:04ac6be8229a 17 typedef const char* _topic_name_type;
Gary Servin 0:04ac6be8229a 18 _topic_name_type topic_name;
Gary Servin 0:04ac6be8229a 19 typedef const char* _message_type_type;
Gary Servin 0:04ac6be8229a 20 _message_type_type message_type;
Gary Servin 0:04ac6be8229a 21 typedef const char* _md5sum_type;
Gary Servin 0:04ac6be8229a 22 _md5sum_type md5sum;
Gary Servin 0:04ac6be8229a 23 typedef int32_t _buffer_size_type;
Gary Servin 0:04ac6be8229a 24 _buffer_size_type buffer_size;
Gary Servin 0:04ac6be8229a 25 enum { ID_PUBLISHER = 0 };
Gary Servin 0:04ac6be8229a 26 enum { ID_SUBSCRIBER = 1 };
Gary Servin 0:04ac6be8229a 27 enum { ID_SERVICE_SERVER = 2 };
Gary Servin 0:04ac6be8229a 28 enum { ID_SERVICE_CLIENT = 4 };
Gary Servin 0:04ac6be8229a 29 enum { ID_PARAMETER_REQUEST = 6 };
Gary Servin 0:04ac6be8229a 30 enum { ID_LOG = 7 };
Gary Servin 0:04ac6be8229a 31 enum { ID_TIME = 10 };
Gary Servin 0:04ac6be8229a 32 enum { ID_TX_STOP = 11 };
Gary Servin 0:04ac6be8229a 33
Gary Servin 0:04ac6be8229a 34 TopicInfo():
Gary Servin 0:04ac6be8229a 35 topic_id(0),
Gary Servin 0:04ac6be8229a 36 topic_name(""),
Gary Servin 0:04ac6be8229a 37 message_type(""),
Gary Servin 0:04ac6be8229a 38 md5sum(""),
Gary Servin 0:04ac6be8229a 39 buffer_size(0)
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 }
Gary Servin 0:04ac6be8229a 42
Gary Servin 0:04ac6be8229a 43 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 44 {
Gary Servin 0:04ac6be8229a 45 int offset = 0;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 offset += sizeof(this->topic_id);
Gary Servin 0:04ac6be8229a 49 uint32_t length_topic_name = strlen(this->topic_name);
Gary Servin 0:04ac6be8229a 50 varToArr(outbuffer + offset, length_topic_name);
Gary Servin 0:04ac6be8229a 51 offset += 4;
Gary Servin 0:04ac6be8229a 52 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
Gary Servin 0:04ac6be8229a 53 offset += length_topic_name;
Gary Servin 0:04ac6be8229a 54 uint32_t length_message_type = strlen(this->message_type);
Gary Servin 0:04ac6be8229a 55 varToArr(outbuffer + offset, length_message_type);
Gary Servin 0:04ac6be8229a 56 offset += 4;
Gary Servin 0:04ac6be8229a 57 memcpy(outbuffer + offset, this->message_type, length_message_type);
Gary Servin 0:04ac6be8229a 58 offset += length_message_type;
Gary Servin 0:04ac6be8229a 59 uint32_t length_md5sum = strlen(this->md5sum);
Gary Servin 0:04ac6be8229a 60 varToArr(outbuffer + offset, length_md5sum);
Gary Servin 0:04ac6be8229a 61 offset += 4;
Gary Servin 0:04ac6be8229a 62 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
Gary Servin 0:04ac6be8229a 63 offset += length_md5sum;
Gary Servin 0:04ac6be8229a 64 union {
Gary Servin 0:04ac6be8229a 65 int32_t real;
Gary Servin 0:04ac6be8229a 66 uint32_t base;
Gary Servin 0:04ac6be8229a 67 } u_buffer_size;
Gary Servin 0:04ac6be8229a 68 u_buffer_size.real = this->buffer_size;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->buffer_size);
Gary Servin 0:04ac6be8229a 74 return offset;
Gary Servin 0:04ac6be8229a 75 }
Gary Servin 0:04ac6be8229a 76
Gary Servin 0:04ac6be8229a 77 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 78 {
Gary Servin 0:04ac6be8229a 79 int offset = 0;
Gary Servin 0:04ac6be8229a 80 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 81 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 82 offset += sizeof(this->topic_id);
Gary Servin 0:04ac6be8229a 83 uint32_t length_topic_name;
Gary Servin 0:04ac6be8229a 84 arrToVar(length_topic_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 85 offset += 4;
Gary Servin 0:04ac6be8229a 86 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
Gary Servin 0:04ac6be8229a 87 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89 inbuffer[offset+length_topic_name-1]=0;
Gary Servin 0:04ac6be8229a 90 this->topic_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 91 offset += length_topic_name;
Gary Servin 0:04ac6be8229a 92 uint32_t length_message_type;
Gary Servin 0:04ac6be8229a 93 arrToVar(length_message_type, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 94 offset += 4;
Gary Servin 0:04ac6be8229a 95 for(unsigned int k= offset; k< offset+length_message_type; ++k){
Gary Servin 0:04ac6be8229a 96 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98 inbuffer[offset+length_message_type-1]=0;
Gary Servin 0:04ac6be8229a 99 this->message_type = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 100 offset += length_message_type;
Gary Servin 0:04ac6be8229a 101 uint32_t length_md5sum;
Gary Servin 0:04ac6be8229a 102 arrToVar(length_md5sum, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 103 offset += 4;
Gary Servin 0:04ac6be8229a 104 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
Gary Servin 0:04ac6be8229a 105 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 106 }
Gary Servin 0:04ac6be8229a 107 inbuffer[offset+length_md5sum-1]=0;
Gary Servin 0:04ac6be8229a 108 this->md5sum = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 109 offset += length_md5sum;
Gary Servin 0:04ac6be8229a 110 union {
Gary Servin 0:04ac6be8229a 111 int32_t real;
Gary Servin 0:04ac6be8229a 112 uint32_t base;
Gary Servin 0:04ac6be8229a 113 } u_buffer_size;
Gary Servin 0:04ac6be8229a 114 u_buffer_size.base = 0;
Gary Servin 0:04ac6be8229a 115 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 116 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 117 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 118 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 119 this->buffer_size = u_buffer_size.real;
Gary Servin 0:04ac6be8229a 120 offset += sizeof(this->buffer_size);
Gary Servin 0:04ac6be8229a 121 return offset;
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123
Gary Servin 0:04ac6be8229a 124 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
Gary Servin 0:04ac6be8229a 125 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
Gary Servin 0:04ac6be8229a 126
Gary Servin 0:04ac6be8229a 127 };
Gary Servin 0:04ac6be8229a 128
Gary Servin 0:04ac6be8229a 129 }
Gary Servin 0:04ac6be8229a 130 #endif