jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

rosserial_msgs/TopicInfo.h@5:8cd48977ec68, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:38:35 2013 +0000
Revision:
5:8cd48977ec68
Parent:
3:1cf99502f396 
modify for Hydro version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_rosserial_msgs_TopicInfo_h
nucho 3:1cf99502f396 2 #define _ROS_rosserial_msgs_TopicInfo_h
nucho 0:77afd7560544 3
nucho 0:77afd7560544 4 #include <stdint.h>
nucho 0:77afd7560544 5 #include <string.h>
nucho 0:77afd7560544 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 3:1cf99502f396 8
nucho 0:77afd7560544 9 namespace rosserial_msgs
nucho 0:77afd7560544 10 {
nucho 3:1cf99502f396 11
nucho 0:77afd7560544 12 class TopicInfo : public ros::Msg
nucho 0:77afd7560544 13 {
nucho 0:77afd7560544 14 public:
nucho 3:1cf99502f396 15 uint16_t topic_id;
nucho 0:77afd7560544 16 char * topic_name;
nucho 0:77afd7560544 17 char * message_type;
nucho 3:1cf99502f396 18 char * md5sum;
nucho 3:1cf99502f396 19 int32_t buffer_size;
nucho 0:77afd7560544 20 enum { ID_PUBLISHER = 0 };
nucho 0:77afd7560544 21 enum { ID_SUBSCRIBER = 1 };
nucho 0:77afd7560544 22 enum { ID_SERVICE_SERVER = 2 };
nucho 3:1cf99502f396 23 enum { ID_SERVICE_CLIENT = 4 };
nucho 3:1cf99502f396 24 enum { ID_PARAMETER_REQUEST = 6 };
nucho 3:1cf99502f396 25 enum { ID_LOG = 7 };
nucho 0:77afd7560544 26 enum { ID_TIME = 10 };
nucho 0:77afd7560544 27
nucho 3:1cf99502f396 28 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 29 {
nucho 0:77afd7560544 30 int offset = 0;
nucho 3:1cf99502f396 31 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
nucho 3:1cf99502f396 32 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 33 offset += sizeof(this->topic_id);
jjzak 5:8cd48977ec68 34 uint32_t length_topic_name = strlen( (const char*) this->topic_name);
jjzak 5:8cd48977ec68 35 memcpy(outbuffer + offset, &length_topic_name, sizeof(uint32_t));
nucho 0:77afd7560544 36 offset += 4;
jjzak 5:8cd48977ec68 37 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
jjzak 5:8cd48977ec68 38 offset += length_topic_name;
jjzak 5:8cd48977ec68 39 uint32_t length_message_type = strlen( (const char*) this->message_type);
jjzak 5:8cd48977ec68 40 memcpy(outbuffer + offset, &length_message_type, sizeof(uint32_t));
nucho 0:77afd7560544 41 offset += 4;
jjzak 5:8cd48977ec68 42 memcpy(outbuffer + offset, this->message_type, length_message_type);
jjzak 5:8cd48977ec68 43 offset += length_message_type;
jjzak 5:8cd48977ec68 44 uint32_t length_md5sum = strlen( (const char*) this->md5sum);
jjzak 5:8cd48977ec68 45 memcpy(outbuffer + offset, &length_md5sum, sizeof(uint32_t));
nucho 1:ff0ec969dad1 46 offset += 4;
jjzak 5:8cd48977ec68 47 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
jjzak 5:8cd48977ec68 48 offset += length_md5sum;
nucho 3:1cf99502f396 49 union {
nucho 3:1cf99502f396 50 int32_t real;
nucho 3:1cf99502f396 51 uint32_t base;
nucho 3:1cf99502f396 52 } u_buffer_size;
nucho 3:1cf99502f396 53 u_buffer_size.real = this->buffer_size;
nucho 3:1cf99502f396 54 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
nucho 3:1cf99502f396 55 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
nucho 3:1cf99502f396 56 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
nucho 3:1cf99502f396 57 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
nucho 3:1cf99502f396 58 offset += sizeof(this->buffer_size);
nucho 0:77afd7560544 59 return offset;
nucho 0:77afd7560544 60 }
nucho 0:77afd7560544 61
nucho 0:77afd7560544 62 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 63 {
nucho 0:77afd7560544 64 int offset = 0;
jjzak 5:8cd48977ec68 65 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
nucho 3:1cf99502f396 66 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 67 offset += sizeof(this->topic_id);
jjzak 5:8cd48977ec68 68 uint32_t length_topic_name;
jjzak 5:8cd48977ec68 69 memcpy(&length_topic_name, (inbuffer + offset), sizeof(uint32_t));
nucho 0:77afd7560544 70 offset += 4;
nucho 0:77afd7560544 71 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
nucho 0:77afd7560544 72 inbuffer[k-1]=inbuffer[k];
nucho 3:1cf99502f396 73 }
nucho 0:77afd7560544 74 inbuffer[offset+length_topic_name-1]=0;
nucho 0:77afd7560544 75 this->topic_name = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 76 offset += length_topic_name;
jjzak 5:8cd48977ec68 77 uint32_t length_message_type;
jjzak 5:8cd48977ec68 78 memcpy(&length_message_type, (inbuffer + offset), sizeof(uint32_t));
nucho 0:77afd7560544 79 offset += 4;
nucho 0:77afd7560544 80 for(unsigned int k= offset; k< offset+length_message_type; ++k){
nucho 0:77afd7560544 81 inbuffer[k-1]=inbuffer[k];
nucho 3:1cf99502f396 82 }
nucho 0:77afd7560544 83 inbuffer[offset+length_message_type-1]=0;
nucho 0:77afd7560544 84 this->message_type = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 85 offset += length_message_type;
jjzak 5:8cd48977ec68 86 uint32_t length_md5sum;
jjzak 5:8cd48977ec68 87 memcpy(&length_md5sum, (inbuffer + offset), sizeof(uint32_t));
nucho 1:ff0ec969dad1 88 offset += 4;
nucho 3:1cf99502f396 89 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
nucho 1:ff0ec969dad1 90 inbuffer[k-1]=inbuffer[k];
nucho 3:1cf99502f396 91 }
nucho 3:1cf99502f396 92 inbuffer[offset+length_md5sum-1]=0;
nucho 3:1cf99502f396 93 this->md5sum = (char *)(inbuffer + offset-1);
nucho 3:1cf99502f396 94 offset += length_md5sum;
nucho 3:1cf99502f396 95 union {
nucho 3:1cf99502f396 96 int32_t real;
nucho 3:1cf99502f396 97 uint32_t base;
nucho 3:1cf99502f396 98 } u_buffer_size;
nucho 3:1cf99502f396 99 u_buffer_size.base = 0;
nucho 3:1cf99502f396 100 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 101 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 102 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:1cf99502f396 103 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 3:1cf99502f396 104 this->buffer_size = u_buffer_size.real;
nucho 3:1cf99502f396 105 offset += sizeof(this->buffer_size);
nucho 0:77afd7560544 106 return offset;
nucho 0:77afd7560544 107 }
nucho 0:77afd7560544 108
nucho 0:77afd7560544 109 virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };
nucho 3:1cf99502f396 110 virtual const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
nucho 0:77afd7560544 111
nucho 0:77afd7560544 112 };
nucho 0:77afd7560544 113
nucho 0:77afd7560544 114 }
jjzak 5:8cd48977ec68 115 #endif