liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Header.h@6:e5254bf7e322, 2014-05-08 (annotated)

Committer:
isad
Date:
Thu May 08 06:34:37 2014 +0000
Revision:
6:e5254bf7e322
0.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
isad 6:e5254bf7e322 1 #ifndef _ROS_std_msgs_Header_h
isad 6:e5254bf7e322 2 #define _ROS_std_msgs_Header_h
isad 6:e5254bf7e322 3
isad 6:e5254bf7e322 4 #include <stdint.h>
isad 6:e5254bf7e322 5 #include <string.h>
isad 6:e5254bf7e322 6 #include <stdlib.h>
isad 6:e5254bf7e322 7 #include "ros/msg.h"
isad 6:e5254bf7e322 8 #include "ros/time.h"
isad 6:e5254bf7e322 9
isad 6:e5254bf7e322 10 namespace std_msgs
isad 6:e5254bf7e322 11 {
isad 6:e5254bf7e322 12
isad 6:e5254bf7e322 13 class Header : public ros::Msg
isad 6:e5254bf7e322 14 {
isad 6:e5254bf7e322 15 public:
isad 6:e5254bf7e322 16 uint32_t seq;
isad 6:e5254bf7e322 17 ros::Time stamp;
isad 6:e5254bf7e322 18 char * frame_id;
isad 6:e5254bf7e322 19
isad 6:e5254bf7e322 20 virtual int serialize(unsigned char *outbuffer) const
isad 6:e5254bf7e322 21 {
isad 6:e5254bf7e322 22 int offset = 0;
isad 6:e5254bf7e322 23 *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
isad 6:e5254bf7e322 24 *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 25 *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 26 *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 27 offset += sizeof(this->seq);
isad 6:e5254bf7e322 28 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
isad 6:e5254bf7e322 29 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 30 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 31 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 32 offset += sizeof(this->stamp.sec);
isad 6:e5254bf7e322 33 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
isad 6:e5254bf7e322 34 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 35 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 36 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 37 offset += sizeof(this->stamp.nsec);
isad 6:e5254bf7e322 38 uint32_t length_frame_id = strlen( (const char*) this->frame_id);
isad 6:e5254bf7e322 39 memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t));
isad 6:e5254bf7e322 40 offset += 4;
isad 6:e5254bf7e322 41 memcpy(outbuffer + offset, this->frame_id, length_frame_id);
isad 6:e5254bf7e322 42 offset += length_frame_id;
isad 6:e5254bf7e322 43 return offset;
isad 6:e5254bf7e322 44 }
isad 6:e5254bf7e322 45
isad 6:e5254bf7e322 46 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 47 {
isad 6:e5254bf7e322 48 int offset = 0;
isad 6:e5254bf7e322 49 this->seq = ((uint32_t) (*(inbuffer + offset)));
isad 6:e5254bf7e322 50 this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 51 this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 52 this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 53 offset += sizeof(this->seq);
isad 6:e5254bf7e322 54 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
isad 6:e5254bf7e322 55 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 56 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 57 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 58 offset += sizeof(this->stamp.sec);
isad 6:e5254bf7e322 59 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
isad 6:e5254bf7e322 60 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 61 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 62 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 63 offset += sizeof(this->stamp.nsec);
isad 6:e5254bf7e322 64 uint32_t length_frame_id;
isad 6:e5254bf7e322 65 memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t));
isad 6:e5254bf7e322 66 offset += 4;
isad 6:e5254bf7e322 67 for(unsigned int k= offset; k< offset+length_frame_id; ++k){
isad 6:e5254bf7e322 68 inbuffer[k-1]=inbuffer[k];
isad 6:e5254bf7e322 69 }
isad 6:e5254bf7e322 70 inbuffer[offset+length_frame_id-1]=0;
isad 6:e5254bf7e322 71 this->frame_id = (char *)(inbuffer + offset-1);
isad 6:e5254bf7e322 72 offset += length_frame_id;
isad 6:e5254bf7e322 73 return offset;
isad 6:e5254bf7e322 74 }
isad 6:e5254bf7e322 75
isad 6:e5254bf7e322 76 const char * getType(){ return "std_msgs/Header"; };
isad 6:e5254bf7e322 77 const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
isad 6:e5254bf7e322 78
isad 6:e5254bf7e322 79 };
isad 6:e5254bf7e322 80
isad 6:e5254bf7e322 81 }
isad 6:e5254bf7e322 82 #endif