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 = (uint32_t *)(outbuffer + offset);
00035 *length_topic_name = strlen( (const char*) this->topic_name);
00036 offset += 4;
00037 memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
00038 offset += *length_topic_name;
00039 uint32_t * length_message_type = (uint32_t *)(outbuffer + offset);
00040 *length_message_type = strlen( (const char*) this->message_type);
00041 offset += 4;
00042 memcpy(outbuffer + offset, this->message_type, *length_message_type);
00043 offset += *length_message_type;
00044 uint32_t * length_md5sum = (uint32_t *)(outbuffer + offset);
00045 *length_md5sum = strlen( (const char*) this->md5sum);
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 + 0))) << (8 * 0);
00066 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00067 offset += sizeof(this->topic_id);
00068 uint32_t length_topic_name = *(uint32_t *)(inbuffer + offset);
00069 offset += 4;
00070 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
00071 inbuffer[k-1]=inbuffer[k];
00072 }
00073 inbuffer[offset+length_topic_name-1]=0;
00074 this->topic_name = (char *)(inbuffer + offset-1);
00075 offset += length_topic_name;
00076 uint32_t length_message_type = *(uint32_t *)(inbuffer + offset);
00077 offset += 4;
00078 for(unsigned int k= offset; k< offset+length_message_type; ++k){
00079 inbuffer[k-1]=inbuffer[k];
00080 }
00081 inbuffer[offset+length_message_type-1]=0;
00082 this->message_type = (char *)(inbuffer + offset-1);
00083 offset += length_message_type;
00084 uint32_t length_md5sum = *(uint32_t *)(inbuffer + offset);
00085 offset += 4;
00086 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
00087 inbuffer[k-1]=inbuffer[k];
00088 }
00089 inbuffer[offset+length_md5sum-1]=0;
00090 this->md5sum = (char *)(inbuffer + offset-1);
00091 offset += length_md5sum;
00092 union {
00093 int32_t real;
00094 uint32_t base;
00095 } u_buffer_size;
00096 u_buffer_size.base = 0;
00097 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00098 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00099 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00100 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00101 this->buffer_size = u_buffer_size.real;
00102 offset += sizeof(this->buffer_size);
00103 return offset;
00104 }
00105
00106 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
00107 const char * getMD5(){ return "63aa5e8f1bdd6f35c69fe1a1b9d28e9f"; };
00108
00109 };
00110
00111 }
00112 #endif
