rosserial for Hydro
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Diff: std_msgs/Header.h
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/std_msgs/Header.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,113 @@ +#ifndef ros_Header_h +#define ros_Header_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "ros/time.h" + +namespace std_msgs +{ + + class Header : public ros::Msg + { + public: + unsigned long seq; + ros::Time stamp; + char * frame_id; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + union { + unsigned long real; + unsigned long base; + } u_seq; + u_seq.real = this->seq; + *(outbuffer + offset + 0) = (u_seq.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_seq.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_seq.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_seq.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->seq); + union { + unsigned long real; + unsigned long base; + } u_sec; + u_sec.real = this->stamp.sec; + *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.sec); + union { + unsigned long real; + unsigned long base; + } u_nsec; + u_nsec.real = this->stamp.nsec; + *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.nsec); + long * length_frame_id = (long *)(outbuffer + offset); + *length_frame_id = strlen( (const char*) this->frame_id); + offset += 4; + memcpy(outbuffer + offset, this->frame_id, *length_frame_id); + offset += *length_frame_id; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + unsigned long real; + unsigned long base; + } u_seq; + u_seq.base = 0; + u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->seq = u_seq.real; + offset += sizeof(this->seq); + union { + unsigned long real; + unsigned long base; + } u_sec; + u_sec.base = 0; + u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->stamp.sec = u_sec.real; + offset += sizeof(this->stamp.sec); + union { + unsigned long real; + unsigned long base; + } u_nsec; + u_nsec.base = 0; + u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->stamp.nsec = u_nsec.real; + offset += sizeof(this->stamp.nsec); + uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_frame_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_frame_id-1]=0; + this->frame_id = (char *)(inbuffer + offset-1); + offset += length_frame_id; + return offset; + } + + virtual const char * getType(){ return "std_msgs/Header"; }; + + }; + +} +#endif \ No newline at end of file