rosserial for Hydro
Fork of rosserial_mbed_lib by
std_msgs/Header.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 1:ff0ec969dad1:
#ifndef ros_std_msgs_Header_h #define ros_std_msgs_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; } const char * getType(){ return "std_msgs/Header"; }; }; } #endif