modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: std_msgs/Header.h
- Revision:
- 6:3c54bc7badd4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/std_msgs/Header.h Sat Oct 26 15:39:01 2013 +0000 @@ -0,0 +1,82 @@ +#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: + uint32_t seq; + ros::Time stamp; + char * frame_id; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF; + offset += sizeof(this->seq); + *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.sec); + *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->stamp.nsec); + uint32_t length_frame_id = strlen( (const char*) this->frame_id); + memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t)); + 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; + this->seq = ((uint32_t) (*(inbuffer + offset))); + this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->seq); + this->stamp.sec = ((uint32_t) (*(inbuffer + offset))); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->stamp.sec); + this->stamp.nsec = ((uint32_t) (*(inbuffer + offset))); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->stamp.nsec); + uint32_t length_frame_id; + memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t)); + 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"; }; + const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; }; + + }; + +} +#endif