modify for Hydro version
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Diff: std_msgs/Header.h
- Revision:
- 3:1cf99502f396
- Parent:
- 1:ff0ec969dad1
diff -r bb6bb835fde4 -r 1cf99502f396 std_msgs/Header.h --- a/std_msgs/Header.h Sun Oct 16 09:35:11 2011 +0000 +++ b/std_msgs/Header.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,113 +1,81 @@ -#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"; }; - - }; - -} +#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 = (uint32_t *)(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; + this->seq |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + 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 + 0))) << (8 * 0); + 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 + 0))) << (8 * 0); + 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 = *(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"; }; + virtual const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; }; + + }; + +} #endif \ No newline at end of file