00001 #ifndef _ROS_SERVICE_MuxList_h
00002 #define _ROS_SERVICE_MuxList_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007
00008 namespace topic_tools
00009 {
00010
00011 static const char MUXLIST[] = "topic_tools/MuxList";
00012
00013 class MuxListRequest : public ros::Msg
00014 {
00015 public:
00016
00017 virtual int serialize(unsigned char *outbuffer) const
00018 {
00019 int offset = 0;
00020 return offset;
00021 }
00022
00023 virtual int deserialize(unsigned char *inbuffer)
00024 {
00025 int offset = 0;
00026 return offset;
00027 }
00028
00029 const char * getType(){ return MUXLIST; };
00030 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
00031
00032 };
00033
00034 class MuxListResponse : public ros::Msg
00035 {
00036 public:
00037 uint8_t topics_length;
00038 char* st_topics;
00039 char* * topics;
00040
00041 virtual int serialize(unsigned char *outbuffer) const
00042 {
00043 int offset = 0;
00044 *(outbuffer + offset++) = topics_length;
00045 *(outbuffer + offset++) = 0;
00046 *(outbuffer + offset++) = 0;
00047 *(outbuffer + offset++) = 0;
00048 for( uint8_t i = 0; i < topics_length; i++){
00049 uint32_t * length_topicsi = (uint32_t *)(outbuffer + offset);
00050 *length_topicsi = strlen( (const char*) this->topics[i]);
00051 offset += 4;
00052 memcpy(outbuffer + offset, this->topics[i], *length_topicsi);
00053 offset += *length_topicsi;
00054 }
00055 return offset;
00056 }
00057
00058 virtual int deserialize(unsigned char *inbuffer)
00059 {
00060 int offset = 0;
00061 uint8_t topics_lengthT = *(inbuffer + offset++);
00062 if(topics_lengthT > topics_length)
00063 this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
00064 offset += 3;
00065 topics_length = topics_lengthT;
00066 for( uint8_t i = 0; i < topics_length; i++){
00067 uint32_t length_st_topics = *(uint32_t *)(inbuffer + offset);
00068 offset += 4;
00069 for(unsigned int k= offset; k< offset+length_st_topics; ++k){
00070 inbuffer[k-1]=inbuffer[k];
00071 }
00072 inbuffer[offset+length_st_topics-1]=0;
00073 this->st_topics = (char *)(inbuffer + offset-1);
00074 offset += length_st_topics;
00075 memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
00076 }
00077 return offset;
00078 }
00079
00080 const char * getType(){ return MUXLIST; };
00081 const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
00082
00083 };
00084
00085 class MuxList {
00086 public:
00087 typedef MuxListRequest Request;
00088 typedef MuxListResponse Response;
00089 };
00090
00091 }
00092 #endif
