nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

rosserial_msgs/TopicInfo.h@4:684f39d0c346, 2012-02-29 (annotated)

Committer:
nucho
Date:
Wed Feb 29 23:00:21 2012 +0000
Revision:
4:684f39d0c346
Parent:
3:1cf99502f396 

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


nucho

3:1cf99502f396


     1

#ifndef _ROS_rosserial_msgs_TopicInfo_h





nucho

3:1cf99502f396


     2

#define _ROS_rosserial_msgs_TopicInfo_h





nucho

0:77afd7560544


     3







nucho

0:77afd7560544


     4

#include <stdint.h>





nucho

0:77afd7560544


     5

#include <string.h>





nucho

0:77afd7560544


     6

#include <stdlib.h>





nucho

3:1cf99502f396


     7

#include "ros/msg.h"





nucho

3:1cf99502f396


     8







nucho

0:77afd7560544


     9

namespace rosserial_msgs





nucho

0:77afd7560544


    10

{





nucho

3:1cf99502f396


    11







nucho

0:77afd7560544


    12

  class TopicInfo : public ros::Msg





nucho

0:77afd7560544


    13

  {





nucho

0:77afd7560544


    14

    public:





nucho

3:1cf99502f396


    15

      uint16_t topic_id;





nucho

0:77afd7560544


    16

      char * topic_name;





nucho

0:77afd7560544


    17

      char * message_type;





nucho

3:1cf99502f396


    18

      char * md5sum;





nucho

3:1cf99502f396


    19

      int32_t buffer_size;





nucho

0:77afd7560544


    20

      enum { ID_PUBLISHER = 0 };





nucho

0:77afd7560544


    21

      enum { ID_SUBSCRIBER = 1 };





nucho

0:77afd7560544


    22

      enum { ID_SERVICE_SERVER = 2 };





nucho

3:1cf99502f396


    23

      enum { ID_SERVICE_CLIENT = 4 };





nucho

3:1cf99502f396


    24

      enum { ID_PARAMETER_REQUEST = 6 };





nucho

3:1cf99502f396


    25

      enum { ID_LOG = 7 };





nucho

0:77afd7560544


    26

      enum { ID_TIME = 10 };





nucho

0:77afd7560544


    27







nucho

3:1cf99502f396


    28

    virtual int serialize(unsigned char *outbuffer) const





nucho

0:77afd7560544


    29

    {





nucho

0:77afd7560544


    30

      int offset = 0;





nucho

3:1cf99502f396


    31

      *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;





nucho

3:1cf99502f396


    32

      *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    33

      offset += sizeof(this->topic_id);





nucho

3:1cf99502f396


    34

      uint32_t * length_topic_name = (uint32_t *)(outbuffer + offset);





nucho

0:77afd7560544


    35

      *length_topic_name = strlen( (const char*) this->topic_name);





nucho

0:77afd7560544


    36

      offset += 4;





nucho

0:77afd7560544


    37

      memcpy(outbuffer + offset, this->topic_name, *length_topic_name);





nucho

0:77afd7560544


    38

      offset += *length_topic_name;





nucho

3:1cf99502f396


    39

      uint32_t * length_message_type = (uint32_t *)(outbuffer + offset);





nucho

0:77afd7560544


    40

      *length_message_type = strlen( (const char*) this->message_type);





nucho

0:77afd7560544


    41

      offset += 4;





nucho

0:77afd7560544


    42

      memcpy(outbuffer + offset, this->message_type, *length_message_type);





nucho

0:77afd7560544


    43

      offset += *length_message_type;





nucho

3:1cf99502f396


    44

      uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset);





nucho

3:1cf99502f396


    45

      *length_md5sum = strlen( (const char*) this->md5sum);





nucho

1:ff0ec969dad1


    46

      offset += 4;





nucho

3:1cf99502f396


    47

      memcpy(outbuffer + offset, this->md5sum, *length_md5sum);





nucho

3:1cf99502f396


    48

      offset += *length_md5sum;





nucho

3:1cf99502f396


    49

      union {





nucho

3:1cf99502f396


    50

        int32_t real;





nucho

3:1cf99502f396


    51

        uint32_t base;





nucho

3:1cf99502f396


    52

      } u_buffer_size;





nucho

3:1cf99502f396


    53

      u_buffer_size.real = this->buffer_size;





nucho

3:1cf99502f396


    54

      *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;





nucho

3:1cf99502f396


    55

      *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;





nucho

3:1cf99502f396


    56

      *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;





nucho

3:1cf99502f396


    57

      *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;





nucho

3:1cf99502f396


    58

      offset += sizeof(this->buffer_size);





nucho

0:77afd7560544


    59

      return offset;





nucho

0:77afd7560544


    60

    }





nucho

0:77afd7560544


    61







nucho

0:77afd7560544


    62

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:77afd7560544


    63

    {





nucho

0:77afd7560544


    64

      int offset = 0;





nucho

3:1cf99502f396


    65

      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

3:1cf99502f396


    66

      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


    67

      offset += sizeof(this->topic_id);





nucho

0:77afd7560544


    68

      uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);





nucho

0:77afd7560544


    69

      offset += 4;





nucho

0:77afd7560544


    70

      for(unsigned int k= offset; k< offset+length_topic_name; ++k){





nucho

0:77afd7560544


    71

          inbuffer[k-1]=inbuffer[k];





nucho

3:1cf99502f396


    72

      }





nucho

0:77afd7560544


    73

      inbuffer[offset+length_topic_name-1]=0;





nucho

0:77afd7560544


    74

      this->topic_name = (char *)(inbuffer + offset-1);





nucho

0:77afd7560544


    75

      offset += length_topic_name;





nucho

0:77afd7560544


    76

      uint32_t length_message_type = *(uint32_t *)(inbuffer + offset);





nucho

0:77afd7560544


    77

      offset += 4;





nucho

0:77afd7560544


    78

      for(unsigned int k= offset; k< offset+length_message_type; ++k){





nucho

0:77afd7560544


    79

          inbuffer[k-1]=inbuffer[k];





nucho

3:1cf99502f396


    80

      }





nucho

0:77afd7560544


    81

      inbuffer[offset+length_message_type-1]=0;





nucho

0:77afd7560544


    82

      this->message_type = (char *)(inbuffer + offset-1);





nucho

0:77afd7560544


    83

      offset += length_message_type;





nucho

3:1cf99502f396


    84

      uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset);





nucho

1:ff0ec969dad1


    85

      offset += 4;





nucho

3:1cf99502f396


    86

      for(unsigned int k= offset; k< offset+length_md5sum; ++k){





nucho

1:ff0ec969dad1


    87

          inbuffer[k-1]=inbuffer[k];





nucho

3:1cf99502f396


    88

      }





nucho

3:1cf99502f396


    89

      inbuffer[offset+length_md5sum-1]=0;





nucho

3:1cf99502f396


    90

      this->md5sum = (char *)(inbuffer + offset-1);





nucho

3:1cf99502f396


    91

      offset += length_md5sum;





nucho

3:1cf99502f396


    92

      union {





nucho

3:1cf99502f396


    93

        int32_t real;





nucho

3:1cf99502f396


    94

        uint32_t base;





nucho

3:1cf99502f396


    95

      } u_buffer_size;





nucho

3:1cf99502f396


    96

      u_buffer_size.base = 0;





nucho

3:1cf99502f396


    97

      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

3:1cf99502f396


    98

      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

3:1cf99502f396


    99

      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);





nucho

3:1cf99502f396


   100

      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);





nucho

3:1cf99502f396


   101

      this->buffer_size = u_buffer_size.real;





nucho

3:1cf99502f396


   102

      offset += sizeof(this->buffer_size);





nucho

0:77afd7560544


   103

     return offset;





nucho

0:77afd7560544


   104

    }





nucho

0:77afd7560544


   105







nucho

0:77afd7560544


   106

    virtual const char * getType(){ return "rosserial_msgs/TopicInfo"; };





nucho

3:1cf99502f396


   107

    virtual const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };





nucho

0:77afd7560544


   108







nucho

0:77afd7560544


   109

  };





nucho

0:77afd7560544


   110







nucho

0:77afd7560544


   111

}





nucho

0:77afd7560544


   112

#endif