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 const char* topic_name;
00017 const char* message_type;
00018 const 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 enum { ID_TX_STOP = 11 };
00028
00029 virtual int serialize(unsigned char *outbuffer) const
00030 {
00031 int offset = 0;
00032 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
00033 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
00034 offset += sizeof(this->topic_id);
00035 uint32_t length_topic_name = strlen(this->topic_name);
00036 memcpy(outbuffer + offset, &length_topic_name, sizeof(uint32_t));
00037 offset += 4;
00038 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
00039 offset += length_topic_name;
00040 uint32_t length_message_type = strlen(this->message_type);
00041 memcpy(outbuffer + offset, &length_message_type, sizeof(uint32_t));
00042 offset += 4;
00043 memcpy(outbuffer + offset, this->message_type, length_message_type);
00044 offset += length_message_type;
00045 uint32_t length_md5sum = strlen(this->md5sum);
00046 memcpy(outbuffer + offset, &length_md5sum, sizeof(uint32_t));
00047 offset += 4;
00048 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
00049 offset += length_md5sum;
00050 union {
00051 int32_t real;
00052 uint32_t base;
00053 } u_buffer_size;
00054 u_buffer_size.real = this->buffer_size;
00055 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
00056 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
00057 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
00058 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
00059 offset += sizeof(this->buffer_size);
00060 return offset;
00061 }
00062
00063 virtual int deserialize(unsigned char *inbuffer)
00064 {
00065 int offset = 0;
00066 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
00067 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00068 offset += sizeof(this->topic_id);
00069 uint32_t length_topic_name;
00070 memcpy(&length_topic_name, (inbuffer + offset), sizeof(uint32_t));
00071 offset += 4;
00072 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
00073 inbuffer[k-1]=inbuffer[k];
00074 }
00075 inbuffer[offset+length_topic_name-1]=0;
00076 this->topic_name = (char *)(inbuffer + offset-1);
00077 offset += length_topic_name;
00078 uint32_t length_message_type;
00079 memcpy(&length_message_type, (inbuffer + offset), sizeof(uint32_t));
00080 offset += 4;
00081 for(unsigned int k= offset; k< offset+length_message_type; ++k){
00082 inbuffer[k-1]=inbuffer[k];
00083 }
00084 inbuffer[offset+length_message_type-1]=0;
00085 this->message_type = (char *)(inbuffer + offset-1);
00086 offset += length_message_type;
00087 uint32_t length_md5sum;
00088 memcpy(&length_md5sum, (inbuffer + offset), sizeof(uint32_t));
00089 offset += 4;
00090 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
00091 inbuffer[k-1]=inbuffer[k];
00092 }
00093 inbuffer[offset+length_md5sum-1]=0;
00094 this->md5sum = (char *)(inbuffer + offset-1);
00095 offset += length_md5sum;
00096 union {
00097 int32_t real;
00098 uint32_t base;
00099 } u_buffer_size;
00100 u_buffer_size.base = 0;
00101 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00102 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00103 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00104 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00105 this->buffer_size = u_buffer_size.real;
00106 offset += sizeof(this->buffer_size);
00107 return offset;
00108 }
00109
00110 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
00111 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
00112
00113 };
00114
00115 }
00116 #endif