Go to the documentation of this file.00001 #ifndef _ROS_rosserial_msgs_TopicInfo_h
00002 #define _ROS_rosserial_msgs_TopicInfo_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace rosserial_msgs
00010 {
00011
00012 class TopicInfo : public ros::Msg
00013 {
00014 public:
00015 uint16_t topic_id;
00016 char * topic_name;
00017 char * message_type;
00018 char * md5sum;
00019 int32_t buffer_size;
00020 enum { ID_PUBLISHER = 0 };
00021 enum { ID_SUBSCRIBER = 1 };
00022 enum { ID_SERVICE_SERVER = 2 };
00023 enum { ID_SERVICE_CLIENT = 4 };
00024 enum { ID_PARAMETER_REQUEST = 6 };
00025 enum { ID_LOG = 7 };
00026 enum { ID_TIME = 10 };
00027
00028 virtual int serialize(unsigned char *outbuffer) const
00029 {
00030 int offset = 0;
00031 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
00032 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
00033 offset += sizeof(this->topic_id);
00034 uint32_t length_topic_name = strlen( (const char*) this->topic_name);
00035 memcpy(outbuffer + offset, &length_topic_name, sizeof(uint32_t));
00036 offset += 4;
00037 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
00038 offset += length_topic_name;
00039 uint32_t length_message_type = strlen( (const char*) this->message_type);
00040 memcpy(outbuffer + offset, &length_message_type, sizeof(uint32_t));
00041 offset += 4;
00042 memcpy(outbuffer + offset, this->message_type, length_message_type);
00043 offset += length_message_type;
00044 uint32_t length_md5sum = strlen( (const char*) this->md5sum);
00045 memcpy(outbuffer + offset, &length_md5sum, sizeof(uint32_t));
00046 offset += 4;
00047 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
00048 offset += length_md5sum;
00049 union {
00050 int32_t real;
00051 uint32_t base;
00052 } u_buffer_size;
00053 u_buffer_size.real = this->buffer_size;
00054 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
00055 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
00056 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
00057 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
00058 offset += sizeof(this->buffer_size);
00059 return offset;
00060 }
00061
00062 virtual int deserialize(unsigned char *inbuffer)
00063 {
00064 int offset = 0;
00065 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
00066 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00067 offset += sizeof(this->topic_id);
00068 uint32_t length_topic_name;
00069 memcpy(&length_topic_name, (inbuffer + offset), sizeof(uint32_t));
00070 offset += 4;
00071 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
00072 inbuffer[k-1]=inbuffer[k];
00073 }
00074 inbuffer[offset+length_topic_name-1]=0;
00075 this->topic_name = (char *)(inbuffer + offset-1);
00076 offset += length_topic_name;
00077 uint32_t length_message_type;
00078 memcpy(&length_message_type, (inbuffer + offset), sizeof(uint32_t));
00079 offset += 4;
00080 for(unsigned int k= offset; k< offset+length_message_type; ++k){
00081 inbuffer[k-1]=inbuffer[k];
00082 }
00083 inbuffer[offset+length_message_type-1]=0;
00084 this->message_type = (char *)(inbuffer + offset-1);
00085 offset += length_message_type;
00086 uint32_t length_md5sum;
00087 memcpy(&length_md5sum, (inbuffer + offset), sizeof(uint32_t));
00088 offset += 4;
00089 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
00090 inbuffer[k-1]=inbuffer[k];
00091 }
00092 inbuffer[offset+length_md5sum-1]=0;
00093 this->md5sum = (char *)(inbuffer + offset-1);
00094 offset += length_md5sum;
00095 union {
00096 int32_t real;
00097 uint32_t base;
00098 } u_buffer_size;
00099 u_buffer_size.base = 0;
00100 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00101 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00102 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00103 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00104 this->buffer_size = u_buffer_size.real;
00105 offset += sizeof(this->buffer_size);
00106 return offset;
00107 }
00108
00109 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
00110 const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
00111
00112 };
00113
00114 }
00115 #endif