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TopicInfo.h
00001 #ifndef _ROS_rosserial_msgs_TopicInfo_h 00002 #define _ROS_rosserial_msgs_TopicInfo_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace rosserial_msgs 00010 { 00011 00012 class TopicInfo : public ros::Msg 00013 { 00014 public: 00015 typedef uint16_t _topic_id_type; 00016 _topic_id_type topic_id; 00017 typedef const char* _topic_name_type; 00018 _topic_name_type topic_name; 00019 typedef const char* _message_type_type; 00020 _message_type_type message_type; 00021 typedef const char* _md5sum_type; 00022 _md5sum_type md5sum; 00023 typedef int32_t _buffer_size_type; 00024 _buffer_size_type buffer_size; 00025 enum { ID_PUBLISHER = 0 }; 00026 enum { ID_SUBSCRIBER = 1 }; 00027 enum { ID_SERVICE_SERVER = 2 }; 00028 enum { ID_SERVICE_CLIENT = 4 }; 00029 enum { ID_PARAMETER_REQUEST = 6 }; 00030 enum { ID_LOG = 7 }; 00031 enum { ID_TIME = 10 }; 00032 enum { ID_TX_STOP = 11 }; 00033 00034 TopicInfo(): 00035 topic_id(0), 00036 topic_name(""), 00037 message_type(""), 00038 md5sum(""), 00039 buffer_size(0) 00040 { 00041 } 00042 00043 virtual int serialize(unsigned char *outbuffer) const 00044 { 00045 int offset = 0; 00046 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF; 00047 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF; 00048 offset += sizeof(this->topic_id); 00049 uint32_t length_topic_name = strlen(this->topic_name); 00050 varToArr(outbuffer + offset, length_topic_name); 00051 offset += 4; 00052 memcpy(outbuffer + offset, this->topic_name, length_topic_name); 00053 offset += length_topic_name; 00054 uint32_t length_message_type = strlen(this->message_type); 00055 varToArr(outbuffer + offset, length_message_type); 00056 offset += 4; 00057 memcpy(outbuffer + offset, this->message_type, length_message_type); 00058 offset += length_message_type; 00059 uint32_t length_md5sum = strlen(this->md5sum); 00060 varToArr(outbuffer + offset, length_md5sum); 00061 offset += 4; 00062 memcpy(outbuffer + offset, this->md5sum, length_md5sum); 00063 offset += length_md5sum; 00064 union { 00065 int32_t real; 00066 uint32_t base; 00067 } u_buffer_size; 00068 u_buffer_size.real = this->buffer_size; 00069 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF; 00070 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF; 00071 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF; 00072 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF; 00073 offset += sizeof(this->buffer_size); 00074 return offset; 00075 } 00076 00077 virtual int deserialize(unsigned char *inbuffer) 00078 { 00079 int offset = 0; 00080 this->topic_id = ((uint16_t) (*(inbuffer + offset))); 00081 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); 00082 offset += sizeof(this->topic_id); 00083 uint32_t length_topic_name; 00084 arrToVar(length_topic_name, (inbuffer + offset)); 00085 offset += 4; 00086 for(unsigned int k= offset; k< offset+length_topic_name; ++k){ 00087 inbuffer[k-1]=inbuffer[k]; 00088 } 00089 inbuffer[offset+length_topic_name-1]=0; 00090 this->topic_name = (char *)(inbuffer + offset-1); 00091 offset += length_topic_name; 00092 uint32_t length_message_type; 00093 arrToVar(length_message_type, (inbuffer + offset)); 00094 offset += 4; 00095 for(unsigned int k= offset; k< offset+length_message_type; ++k){ 00096 inbuffer[k-1]=inbuffer[k]; 00097 } 00098 inbuffer[offset+length_message_type-1]=0; 00099 this->message_type = (char *)(inbuffer + offset-1); 00100 offset += length_message_type; 00101 uint32_t length_md5sum; 00102 arrToVar(length_md5sum, (inbuffer + offset)); 00103 offset += 4; 00104 for(unsigned int k= offset; k< offset+length_md5sum; ++k){ 00105 inbuffer[k-1]=inbuffer[k]; 00106 } 00107 inbuffer[offset+length_md5sum-1]=0; 00108 this->md5sum = (char *)(inbuffer + offset-1); 00109 offset += length_md5sum; 00110 union { 00111 int32_t real; 00112 uint32_t base; 00113 } u_buffer_size; 00114 u_buffer_size.base = 0; 00115 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00116 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00117 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00118 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00119 this->buffer_size = u_buffer_size.real; 00120 offset += sizeof(this->buffer_size); 00121 return offset; 00122 } 00123 00124 const char * getType(){ return "rosserial_msgs/TopicInfo"; }; 00125 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; }; 00126 00127 }; 00128 00129 } 00130 #endif
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