00001 #ifndef _ROS_SERVICE_RequestParam_h
00002 #define _ROS_SERVICE_RequestParam_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007
00008 namespace rosserial_msgs
00009 {
00010
00011 static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
00012
00013 class RequestParamRequest : public ros::Msg
00014 {
00015 public:
00016 char * name;
00017
00018 virtual int serialize(unsigned char *outbuffer) const
00019 {
00020 int offset = 0;
00021 uint32_t * length_name = (uint32_t *)(outbuffer + offset);
00022 *length_name = strlen( (const char*) this->name);
00023 offset += 4;
00024 memcpy(outbuffer + offset, this->name, *length_name);
00025 offset += *length_name;
00026 return offset;
00027 }
00028
00029 virtual int deserialize(unsigned char *inbuffer)
00030 {
00031 int offset = 0;
00032 uint32_t length_name = *(uint32_t *)(inbuffer + offset);
00033 offset += 4;
00034 for(unsigned int k= offset; k< offset+length_name; ++k){
00035 inbuffer[k-1]=inbuffer[k];
00036 }
00037 inbuffer[offset+length_name-1]=0;
00038 this->name = (char *)(inbuffer + offset-1);
00039 offset += length_name;
00040 return offset;
00041 }
00042
00043 const char * getType(){ return REQUESTPARAM; };
00044 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
00045
00046 };
00047
00048 class RequestParamResponse : public ros::Msg
00049 {
00050 public:
00051 uint8_t ints_length;
00052 int32_t st_ints;
00053 int32_t * ints;
00054 uint8_t floats_length;
00055 float st_floats;
00056 float * floats;
00057 uint8_t strings_length;
00058 char* st_strings;
00059 char* * strings;
00060
00061 virtual int serialize(unsigned char *outbuffer) const
00062 {
00063 int offset = 0;
00064 *(outbuffer + offset++) = ints_length;
00065 *(outbuffer + offset++) = 0;
00066 *(outbuffer + offset++) = 0;
00067 *(outbuffer + offset++) = 0;
00068 for( uint8_t i = 0; i < ints_length; i++){
00069 union {
00070 int32_t real;
00071 uint32_t base;
00072 } u_intsi;
00073 u_intsi.real = this->ints[i];
00074 *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
00075 *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
00076 *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
00077 *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
00078 offset += sizeof(this->ints[i]);
00079 }
00080 *(outbuffer + offset++) = floats_length;
00081 *(outbuffer + offset++) = 0;
00082 *(outbuffer + offset++) = 0;
00083 *(outbuffer + offset++) = 0;
00084 for( uint8_t i = 0; i < floats_length; i++){
00085 union {
00086 float real;
00087 uint32_t base;
00088 } u_floatsi;
00089 u_floatsi.real = this->floats[i];
00090 *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
00091 *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
00092 *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
00093 *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
00094 offset += sizeof(this->floats[i]);
00095 }
00096 *(outbuffer + offset++) = strings_length;
00097 *(outbuffer + offset++) = 0;
00098 *(outbuffer + offset++) = 0;
00099 *(outbuffer + offset++) = 0;
00100 for( uint8_t i = 0; i < strings_length; i++){
00101 uint32_t * length_stringsi = (uint32_t *)(outbuffer + offset);
00102 *length_stringsi = strlen( (const char*) this->strings[i]);
00103 offset += 4;
00104 memcpy(outbuffer + offset, this->strings[i], *length_stringsi);
00105 offset += *length_stringsi;
00106 }
00107 return offset;
00108 }
00109
00110 virtual int deserialize(unsigned char *inbuffer)
00111 {
00112 int offset = 0;
00113 uint8_t ints_lengthT = *(inbuffer + offset++);
00114 if(ints_lengthT > ints_length)
00115 this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
00116 offset += 3;
00117 ints_length = ints_lengthT;
00118 for( uint8_t i = 0; i < ints_length; i++){
00119 union {
00120 int32_t real;
00121 uint32_t base;
00122 } u_st_ints;
00123 u_st_ints.base = 0;
00124 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00125 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00126 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00127 u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00128 this->st_ints = u_st_ints.real;
00129 offset += sizeof(this->st_ints);
00130 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
00131 }
00132 uint8_t floats_lengthT = *(inbuffer + offset++);
00133 if(floats_lengthT > floats_length)
00134 this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
00135 offset += 3;
00136 floats_length = floats_lengthT;
00137 for( uint8_t i = 0; i < floats_length; i++){
00138 union {
00139 float real;
00140 uint32_t base;
00141 } u_st_floats;
00142 u_st_floats.base = 0;
00143 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00144 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00145 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00146 u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00147 this->st_floats = u_st_floats.real;
00148 offset += sizeof(this->st_floats);
00149 memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
00150 }
00151 uint8_t strings_lengthT = *(inbuffer + offset++);
00152 if(strings_lengthT > strings_length)
00153 this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
00154 offset += 3;
00155 strings_length = strings_lengthT;
00156 for( uint8_t i = 0; i < strings_length; i++){
00157 uint32_t length_st_strings = *(uint32_t *)(inbuffer + offset);
00158 offset += 4;
00159 for(unsigned int k= offset; k< offset+length_st_strings; ++k){
00160 inbuffer[k-1]=inbuffer[k];
00161 }
00162 inbuffer[offset+length_st_strings-1]=0;
00163 this->st_strings = (char *)(inbuffer + offset-1);
00164 offset += length_st_strings;
00165 memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
00166 }
00167 return offset;
00168 }
00169
00170 const char * getType(){ return REQUESTPARAM; };
00171 const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
00172
00173 };
00174
00175 class RequestParam {
00176 public:
00177 typedef RequestParamRequest Request;
00178 typedef RequestParamResponse Response;
00179 };
00180
00181 }
00182 #endif
