Diff: rosserial_msgs/TopicInfo.h

Revision:

3:dff241b66f84

Parent:

1:098e75fd5ad2

--- a/rosserial_msgs/TopicInfo.h	Sun Oct 16 09:33:53 2011 +0000
+++ b/rosserial_msgs/TopicInfo.h	Sat Nov 12 23:53:04 2011 +0000
@@ -1,77 +1,75 @@
-#ifndef ros_rosserial_msgs_TopicInfo_h
-#define ros_rosserial_msgs_TopicInfo_h
+#ifndef _ROS_rosserial_msgs_TopicInfo_h
+#define _ROS_rosserial_msgs_TopicInfo_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
+
 namespace rosserial_msgs
 {
+
   class TopicInfo : public ros::Msg
   {
     public:
-      unsigned short topic_id;
+      uint16_t topic_id;
       char * topic_name;
       char * message_type;
-      char * md5_checksum;
+      char * md5sum;
+      int32_t buffer_size;
       enum { ID_PUBLISHER = 0 };
       enum { ID_SUBSCRIBER = 1 };
       enum { ID_SERVICE_SERVER = 2 };
-      enum { ID_SERVICE_CLIENT = 3 };
-      enum { ID_PARAMETER_REQUEST = 4 };
-      enum { ID_LOG = 5 };
+      enum { ID_SERVICE_CLIENT = 4 };
+      enum { ID_PARAMETER_REQUEST = 6 };
+      enum { ID_LOG = 7 };
       enum { ID_TIME = 10 };
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
-      union {
-        uint16_t real;
-        uint16_t base;
-      } u_topic_id;
-      u_topic_id.real = this->topic_id;
-      *(outbuffer + offset + 0) = (u_topic_id.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_topic_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
       offset += sizeof(this->topic_id);
-      
-      long * length_topic_name = (long *)(outbuffer + offset);
+      uint32_t * length_topic_name = (uint32_t *)(outbuffer + offset);
       *length_topic_name = strlen( (const char*) this->topic_name);
       offset += 4;
       memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
       offset += *length_topic_name;
-      
-      long * length_message_type = (long *)(outbuffer + offset);
+      uint32_t * length_message_type = (uint32_t *)(outbuffer + offset);
       *length_message_type = strlen( (const char*) this->message_type);
       offset += 4;
       memcpy(outbuffer + offset, this->message_type, *length_message_type);
       offset += *length_message_type;
-
-      long * length_md5_checksum = (long *)(outbuffer + offset);
-      *length_md5_checksum = strlen( (const char*) this->md5_checksum);
+      uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset);
+      *length_md5sum = strlen( (const char*) this->md5sum);
       offset += 4;
-      memcpy(outbuffer + offset, this->md5_checksum, *length_md5_checksum);
-      offset += *length_md5_checksum;
-      
+      memcpy(outbuffer + offset, this->md5sum, *length_md5sum);
+      offset += *length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.real = this->buffer_size;
+      *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buffer_size);
       return offset;
     }
 
     virtual int deserialize(unsigned char *inbuffer)
     {
       int offset = 0;
-      union {
-        unsigned short real;
-        unsigned short base;
-      } u_topic_id;
-      u_topic_id.base = 0;
-      u_topic_id.base |= ((typeof(u_topic_id.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_topic_id.base |= ((typeof(u_topic_id.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      this->topic_id = u_topic_id.real;
+      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
       offset += sizeof(this->topic_id);
       uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);
       offset += 4;
       for(unsigned int k= offset; k< offset+length_topic_name; ++k){
           inbuffer[k-1]=inbuffer[k];
-           }
+      }
       inbuffer[offset+length_topic_name-1]=0;
       this->topic_name = (char *)(inbuffer + offset-1);
       offset += length_topic_name;
@@ -79,24 +77,34 @@
       offset += 4;
       for(unsigned int k= offset; k< offset+length_message_type; ++k){
           inbuffer[k-1]=inbuffer[k];
-           }
+      }
       inbuffer[offset+length_message_type-1]=0;
       this->message_type = (char *)(inbuffer + offset-1);
       offset += length_message_type;
-
-      uint32_t length_md5_checksum = *(uint32_t *)(inbuffer + offset);
+      uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset);
       offset += 4;
-      for(unsigned int k= offset; k< offset+length_md5_checksum; ++k){
+      for(unsigned int k= offset; k< offset+length_md5sum; ++k){
           inbuffer[k-1]=inbuffer[k];
-           }
-      inbuffer[offset+length_md5_checksum-1]=0;
-      this->md5_checksum = (char *)(inbuffer + offset-1);
-      offset += length_md5_checksum;
-
+      }
+      inbuffer[offset+length_md5sum-1]=0;
+      this->md5sum = (char *)(inbuffer + offset-1);
+      offset += length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.base = 0;
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->buffer_size = u_buffer_size.real;
+      offset += sizeof(this->buffer_size);
      return offset;
     }
 
     virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };
+    virtual const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
 
   };