ControllerState.h

00001 #ifndef _ROS_controller_manager_msgs_ControllerState_h
00002 #define _ROS_controller_manager_msgs_ControllerState_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "controller_manager_msgs/HardwareInterfaceResources.h"
00009 
00010 namespace controller_manager_msgs
00011 {
00012 
00013   class ControllerState : public ros::Msg
00014   {
00015     public:
00016       typedef const char* _name_type;
00017       _name_type name;
00018       typedef const char* _state_type;
00019       _state_type state;
00020       typedef const char* _type_type;
00021       _type_type type;
00022       uint32_t claimed_resources_length;
00023       typedef controller_manager_msgs::HardwareInterfaceResources _claimed_resources_type;
00024       _claimed_resources_type st_claimed_resources;
00025       _claimed_resources_type * claimed_resources;
00026 
00027     ControllerState():
00028       name(""),
00029       state(""),
00030       type(""),
00031       claimed_resources_length(0), claimed_resources(NULL)
00032     {
00033     }
00034 
00035     virtual int serialize(unsigned char *outbuffer) const
00036     {
00037       int offset = 0;
00038       uint32_t length_name = strlen(this->name);
00039       varToArr(outbuffer + offset, length_name);
00040       offset += 4;
00041       memcpy(outbuffer + offset, this->name, length_name);
00042       offset += length_name;
00043       uint32_t length_state = strlen(this->state);
00044       varToArr(outbuffer + offset, length_state);
00045       offset += 4;
00046       memcpy(outbuffer + offset, this->state, length_state);
00047       offset += length_state;
00048       uint32_t length_type = strlen(this->type);
00049       varToArr(outbuffer + offset, length_type);
00050       offset += 4;
00051       memcpy(outbuffer + offset, this->type, length_type);
00052       offset += length_type;
00053       *(outbuffer + offset + 0) = (this->claimed_resources_length >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (this->claimed_resources_length >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (this->claimed_resources_length >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (this->claimed_resources_length >> (8 * 3)) & 0xFF;
00057       offset += sizeof(this->claimed_resources_length);
00058       for( uint32_t i = 0; i < claimed_resources_length; i++){
00059       offset += this->claimed_resources[i].serialize(outbuffer + offset);
00060       }
00061       return offset;
00062     }
00063 
00064     virtual int deserialize(unsigned char *inbuffer)
00065     {
00066       int offset = 0;
00067       uint32_t length_name;
00068       arrToVar(length_name, (inbuffer + offset));
00069       offset += 4;
00070       for(unsigned int k= offset; k< offset+length_name; ++k){
00071           inbuffer[k-1]=inbuffer[k];
00072       }
00073       inbuffer[offset+length_name-1]=0;
00074       this->name = (char *)(inbuffer + offset-1);
00075       offset += length_name;
00076       uint32_t length_state;
00077       arrToVar(length_state, (inbuffer + offset));
00078       offset += 4;
00079       for(unsigned int k= offset; k< offset+length_state; ++k){
00080           inbuffer[k-1]=inbuffer[k];
00081       }
00082       inbuffer[offset+length_state-1]=0;
00083       this->state = (char *)(inbuffer + offset-1);
00084       offset += length_state;
00085       uint32_t length_type;
00086       arrToVar(length_type, (inbuffer + offset));
00087       offset += 4;
00088       for(unsigned int k= offset; k< offset+length_type; ++k){
00089           inbuffer[k-1]=inbuffer[k];
00090       }
00091       inbuffer[offset+length_type-1]=0;
00092       this->type = (char *)(inbuffer + offset-1);
00093       offset += length_type;
00094       uint32_t claimed_resources_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00095       claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00096       claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00097       claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00098       offset += sizeof(this->claimed_resources_length);
00099       if(claimed_resources_lengthT > claimed_resources_length)
00100         this->claimed_resources = (controller_manager_msgs::HardwareInterfaceResources*)realloc(this->claimed_resources, claimed_resources_lengthT * sizeof(controller_manager_msgs::HardwareInterfaceResources));
00101       claimed_resources_length = claimed_resources_lengthT;
00102       for( uint32_t i = 0; i < claimed_resources_length; i++){
00103       offset += this->st_claimed_resources.deserialize(inbuffer + offset);
00104         memcpy( &(this->claimed_resources[i]), &(this->st_claimed_resources), sizeof(controller_manager_msgs::HardwareInterfaceResources));
00105       }
00106      return offset;
00107     }
00108 
00109     const char * getType(){ return "controller_manager_msgs/ControllerState"; };
00110     const char * getMD5(){ return "aeb6b261d97793ab74099a3740245272"; };
00111 
00112   };
00113 
00114 }
00115 #endif