root / quad2 / arduino / src / ros_lib / rosserial_msgs / TopicInfo.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_rosserial_msgs_TopicInfo_h
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2 | #define _ROS_rosserial_msgs_TopicInfo_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | |||
9 | namespace rosserial_msgs |
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10 | { |
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11 | |||
12 | class TopicInfo : public ros::Msg |
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13 | { |
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14 | public:
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15 | uint16_t topic_id; |
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16 | char * topic_name;
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17 | char * message_type;
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18 | char * md5sum;
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19 | int32_t buffer_size; |
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20 | enum { ID_PUBLISHER = 0 }; |
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21 | enum { ID_SUBSCRIBER = 1 }; |
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22 | enum { ID_SERVICE_SERVER = 2 }; |
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23 | enum { ID_SERVICE_CLIENT = 4 }; |
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24 | enum { ID_PARAMETER_REQUEST = 6 }; |
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25 | enum { ID_LOG = 7 }; |
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26 | enum { ID_TIME = 10 }; |
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27 | |||
28 | virtual int serialize(unsigned char *outbuffer) const |
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29 | { |
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30 | int offset = 0; |
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31 | *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF; |
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32 | *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF; |
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33 | offset += sizeof(this->topic_id);
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34 | uint32_t * length_topic_name = (uint32_t *)(outbuffer + offset); |
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35 | *length_topic_name = strlen( (const char*) this->topic_name); |
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36 | offset += 4;
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37 | memcpy(outbuffer + offset, this->topic_name, *length_topic_name); |
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38 | offset += *length_topic_name; |
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39 | uint32_t * length_message_type = (uint32_t *)(outbuffer + offset); |
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40 | *length_message_type = strlen( (const char*) this->message_type); |
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41 | offset += 4;
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42 | memcpy(outbuffer + offset, this->message_type, *length_message_type); |
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43 | offset += *length_message_type; |
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44 | uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset); |
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45 | *length_md5sum = strlen( (const char*) this->md5sum); |
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46 | offset += 4;
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47 | memcpy(outbuffer + offset, this->md5sum, *length_md5sum); |
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48 | offset += *length_md5sum; |
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49 | union {
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50 | int32_t real; |
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51 | uint32_t base; |
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52 | } u_buffer_size; |
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53 | u_buffer_size.real = this->buffer_size; |
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54 | *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF; |
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55 | *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF; |
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56 | *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF; |
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57 | *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF; |
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58 | offset += sizeof(this->buffer_size);
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59 | return offset;
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60 | } |
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61 | |||
62 | virtual int deserialize(unsigned char *inbuffer) |
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63 | { |
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64 | int offset = 0; |
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65 | this->topic_id |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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66 | this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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67 | offset += sizeof(this->topic_id);
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68 | uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset); |
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69 | offset += 4;
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70 | for(unsigned int k= offset; k< offset+length_topic_name; ++k){ |
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71 | inbuffer[k-1]=inbuffer[k];
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72 | } |
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73 | inbuffer[offset+length_topic_name-1]=0; |
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74 | this->topic_name = (char *)(inbuffer + offset-1); |
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75 | offset += length_topic_name; |
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76 | uint32_t length_message_type = *(uint32_t *)(inbuffer + offset); |
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77 | offset += 4;
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78 | for(unsigned int k= offset; k< offset+length_message_type; ++k){ |
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79 | inbuffer[k-1]=inbuffer[k];
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80 | } |
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81 | inbuffer[offset+length_message_type-1]=0; |
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82 | this->message_type = (char *)(inbuffer + offset-1); |
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83 | offset += length_message_type; |
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84 | uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset); |
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85 | offset += 4;
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86 | for(unsigned int k= offset; k< offset+length_md5sum; ++k){ |
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87 | inbuffer[k-1]=inbuffer[k];
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88 | } |
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89 | inbuffer[offset+length_md5sum-1]=0; |
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90 | this->md5sum = (char *)(inbuffer + offset-1); |
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91 | offset += length_md5sum; |
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92 | union {
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93 | int32_t real; |
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94 | uint32_t base; |
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95 | } u_buffer_size; |
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96 | u_buffer_size.base = 0;
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97 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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98 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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99 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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100 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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101 | this->buffer_size = u_buffer_size.real; |
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102 | offset += sizeof(this->buffer_size);
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103 | return offset;
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104 | } |
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105 | |||
106 | const char * getType(){ return "rosserial_msgs/TopicInfo"; }; |
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107 | const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; }; |
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108 | |||
109 | }; |
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110 | |||
111 | } |
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112 | #endif |