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Dependencies:   rosserial_mbed_lib mbed Servo

rosserial_msgs/TopicInfo.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
1:098e75fd5ad2 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:dff241b66f84 1 #ifndef _ROS_rosserial_msgs_TopicInfo_h
nucho 3:dff241b66f84 2 #define _ROS_rosserial_msgs_TopicInfo_h
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 #include <stdint.h>
nucho 0:06fc856e99ca 5 #include <string.h>
nucho 0:06fc856e99ca 6 #include <stdlib.h>
nucho 3:dff241b66f84 7 #include "ros/msg.h"
nucho 3:dff241b66f84 8
nucho 0:06fc856e99ca 9 namespace rosserial_msgs
nucho 0:06fc856e99ca 10 {
nucho 3:dff241b66f84 11
nucho 0:06fc856e99ca 12 class TopicInfo : public ros::Msg
nucho 0:06fc856e99ca 13 {
nucho 0:06fc856e99ca 14 public:
nucho 3:dff241b66f84 15 uint16_t topic_id;
nucho 0:06fc856e99ca 16 char * topic_name;
nucho 0:06fc856e99ca 17 char * message_type;
nucho 3:dff241b66f84 18 char * md5sum;
nucho 3:dff241b66f84 19 int32_t buffer_size;
nucho 0:06fc856e99ca 20 enum { ID_PUBLISHER = 0 };
nucho 0:06fc856e99ca 21 enum { ID_SUBSCRIBER = 1 };
nucho 0:06fc856e99ca 22 enum { ID_SERVICE_SERVER = 2 };
nucho 3:dff241b66f84 23 enum { ID_SERVICE_CLIENT = 4 };
nucho 3:dff241b66f84 24 enum { ID_PARAMETER_REQUEST = 6 };
nucho 3:dff241b66f84 25 enum { ID_LOG = 7 };
nucho 0:06fc856e99ca 26 enum { ID_TIME = 10 };
nucho 0:06fc856e99ca 27
nucho 3:dff241b66f84 28 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 29 {
nucho 0:06fc856e99ca 30 int offset = 0;
nucho 3:dff241b66f84 31 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
nucho 3:dff241b66f84 32 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 33 offset += sizeof(this->topic_id);
nucho 3:dff241b66f84 34 uint32_t * length_topic_name = (uint32_t *)(outbuffer + offset);
nucho 0:06fc856e99ca 35 *length_topic_name = strlen( (const char*) this->topic_name);
nucho 0:06fc856e99ca 36 offset += 4;
nucho 0:06fc856e99ca 37 memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
nucho 0:06fc856e99ca 38 offset += *length_topic_name;
nucho 3:dff241b66f84 39 uint32_t * length_message_type = (uint32_t *)(outbuffer + offset);
nucho 0:06fc856e99ca 40 *length_message_type = strlen( (const char*) this->message_type);
nucho 0:06fc856e99ca 41 offset += 4;
nucho 0:06fc856e99ca 42 memcpy(outbuffer + offset, this->message_type, *length_message_type);
nucho 0:06fc856e99ca 43 offset += *length_message_type;
nucho 3:dff241b66f84 44 uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset);
nucho 3:dff241b66f84 45 *length_md5sum = strlen( (const char*) this->md5sum);
nucho 1:098e75fd5ad2 46 offset += 4;
nucho 3:dff241b66f84 47 memcpy(outbuffer + offset, this->md5sum, *length_md5sum);
nucho 3:dff241b66f84 48 offset += *length_md5sum;
nucho 3:dff241b66f84 49 union {
nucho 3:dff241b66f84 50 int32_t real;
nucho 3:dff241b66f84 51 uint32_t base;
nucho 3:dff241b66f84 52 } u_buffer_size;
nucho 3:dff241b66f84 53 u_buffer_size.real = this->buffer_size;
nucho 3:dff241b66f84 54 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
nucho 3:dff241b66f84 55 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
nucho 3:dff241b66f84 56 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
nucho 3:dff241b66f84 57 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
nucho 3:dff241b66f84 58 offset += sizeof(this->buffer_size);
nucho 0:06fc856e99ca 59 return offset;
nucho 0:06fc856e99ca 60 }
nucho 0:06fc856e99ca 61
nucho 0:06fc856e99ca 62 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 63 {
nucho 0:06fc856e99ca 64 int offset = 0;
nucho 3:dff241b66f84 65 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:dff241b66f84 66 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 67 offset += sizeof(this->topic_id);
nucho 0:06fc856e99ca 68 uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);
nucho 0:06fc856e99ca 69 offset += 4;
nucho 0:06fc856e99ca 70 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
nucho 0:06fc856e99ca 71 inbuffer[k-1]=inbuffer[k];
nucho 3:dff241b66f84 72 }
nucho 0:06fc856e99ca 73 inbuffer[offset+length_topic_name-1]=0;
nucho 0:06fc856e99ca 74 this->topic_name = (char *)(inbuffer + offset-1);
nucho 0:06fc856e99ca 75 offset += length_topic_name;
nucho 0:06fc856e99ca 76 uint32_t length_message_type = *(uint32_t *)(inbuffer + offset);
nucho 0:06fc856e99ca 77 offset += 4;
nucho 0:06fc856e99ca 78 for(unsigned int k= offset; k< offset+length_message_type; ++k){
nucho 0:06fc856e99ca 79 inbuffer[k-1]=inbuffer[k];
nucho 3:dff241b66f84 80 }
nucho 0:06fc856e99ca 81 inbuffer[offset+length_message_type-1]=0;
nucho 0:06fc856e99ca 82 this->message_type = (char *)(inbuffer + offset-1);
nucho 0:06fc856e99ca 83 offset += length_message_type;
nucho 3:dff241b66f84 84 uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset);
nucho 1:098e75fd5ad2 85 offset += 4;
nucho 3:dff241b66f84 86 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
nucho 1:098e75fd5ad2 87 inbuffer[k-1]=inbuffer[k];
nucho 3:dff241b66f84 88 }
nucho 3:dff241b66f84 89 inbuffer[offset+length_md5sum-1]=0;
nucho 3:dff241b66f84 90 this->md5sum = (char *)(inbuffer + offset-1);
nucho 3:dff241b66f84 91 offset += length_md5sum;
nucho 3:dff241b66f84 92 union {
nucho 3:dff241b66f84 93 int32_t real;
nucho 3:dff241b66f84 94 uint32_t base;
nucho 3:dff241b66f84 95 } u_buffer_size;
nucho 3:dff241b66f84 96 u_buffer_size.base = 0;
nucho 3:dff241b66f84 97 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:dff241b66f84 98 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:dff241b66f84 99 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:dff241b66f84 100 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 3:dff241b66f84 101 this->buffer_size = u_buffer_size.real;
nucho 3:dff241b66f84 102 offset += sizeof(this->buffer_size);
nucho 0:06fc856e99ca 103 return offset;
nucho 0:06fc856e99ca 104 }
nucho 0:06fc856e99ca 105
nucho 0:06fc856e99ca 106 virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };
nucho 3:dff241b66f84 107 virtual const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
nucho 0:06fc856e99ca 108
nucho 0:06fc856e99ca 109 };
nucho 0:06fc856e99ca 110
nucho 0:06fc856e99ca 111 }
nucho 0:06fc856e99ca 112 #endif