PointField.h

00001 #ifndef _ROS_sensor_msgs_PointField_h
00002 #define _ROS_sensor_msgs_PointField_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace sensor_msgs
00010 {
00011 
00012   class PointField : public ros::Msg
00013   {
00014     public:
00015       typedef const char* _name_type;
00016       _name_type name;
00017       typedef uint32_t _offset_type;
00018       _offset_type offset;
00019       typedef uint8_t _datatype_type;
00020       _datatype_type datatype;
00021       typedef uint32_t _count_type;
00022       _count_type count;
00023       enum { INT8 =  1 };
00024       enum { UINT8 =  2 };
00025       enum { INT16 =  3 };
00026       enum { UINT16 =  4 };
00027       enum { INT32 =  5 };
00028       enum { UINT32 =  6 };
00029       enum { FLOAT32 =  7 };
00030       enum { FLOAT64 =  8 };
00031 
00032     PointField():
00033       name(""),
00034       offset(0),
00035       datatype(0),
00036       count(0)
00037     {
00038     }
00039 
00040     virtual int serialize(unsigned char *outbuffer) const
00041     {
00042       int offset = 0;
00043       uint32_t length_name = strlen(this->name);
00044       varToArr(outbuffer + offset, length_name);
00045       offset += 4;
00046       memcpy(outbuffer + offset, this->name, length_name);
00047       offset += length_name;
00048       *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
00052       offset += sizeof(this->offset);
00053       *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
00054       offset += sizeof(this->datatype);
00055       *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
00059       offset += sizeof(this->count);
00060       return offset;
00061     }
00062 
00063     virtual int deserialize(unsigned char *inbuffer)
00064     {
00065       int offset = 0;
00066       uint32_t length_name;
00067       arrToVar(length_name, (inbuffer + offset));
00068       offset += 4;
00069       for(unsigned int k= offset; k< offset+length_name; ++k){
00070           inbuffer[k-1]=inbuffer[k];
00071       }
00072       inbuffer[offset+length_name-1]=0;
00073       this->name = (char *)(inbuffer + offset-1);
00074       offset += length_name;
00075       this->offset =  ((uint32_t) (*(inbuffer + offset)));
00076       this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00077       this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00078       this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00079       offset += sizeof(this->offset);
00080       this->datatype =  ((uint8_t) (*(inbuffer + offset)));
00081       offset += sizeof(this->datatype);
00082       this->count =  ((uint32_t) (*(inbuffer + offset)));
00083       this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00084       this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00085       this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00086       offset += sizeof(this->count);
00087      return offset;
00088     }
00089 
00090     const char * getType(){ return "sensor_msgs/PointField"; };
00091     const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
00092 
00093   };
00094 
00095 }
00096 #endif