make changes on buffer serial
Diff: trajectory_msgs/JointTrajectory.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a trajectory_msgs/JointTrajectory.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/trajectory_msgs/JointTrajectory.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,107 @@ +#ifndef _ROS_trajectory_msgs_JointTrajectory_h +#define _ROS_trajectory_msgs_JointTrajectory_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "trajectory_msgs/JointTrajectoryPoint.h" + +namespace trajectory_msgs +{ + + class JointTrajectory : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t joint_names_length; + typedef char* _joint_names_type; + _joint_names_type st_joint_names; + _joint_names_type * joint_names; + uint32_t points_length; + typedef trajectory_msgs::JointTrajectoryPoint _points_type; + _points_type st_points; + _points_type * points; + + JointTrajectory(): + header(), + joint_names_length(0), joint_names(NULL), + points_length(0), points(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->joint_names_length); + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_joint_namesi = strlen(this->joint_names[i]); + varToArr(outbuffer + offset, length_joint_namesi); + offset += 4; + memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); + offset += length_joint_namesi; + } + *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->points_length); + for( uint32_t i = 0; i < points_length; i++){ + offset += this->points[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->joint_names_length); + if(joint_names_lengthT > joint_names_length) + this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); + joint_names_length = joint_names_lengthT; + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_st_joint_names; + arrToVar(length_st_joint_names, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_joint_names-1]=0; + this->st_joint_names = (char *)(inbuffer + offset-1); + offset += length_st_joint_names; + memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); + } + uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); + points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->points_length); + if(points_lengthT > points_length) + this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint)); + points_length = points_lengthT; + for( uint32_t i = 0; i < points_length; i++){ + offset += this->st_points.deserialize(inbuffer + offset); + memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint)); + } + return offset; + } + + const char * getType(){ return "trajectory_msgs/JointTrajectory"; }; + const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; }; + + }; + +} +#endif