Diff: std_msgs/Header.h

Revision:

0:06fc856e99ca

Child:

1:098e75fd5ad2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Header.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,113 @@
+#ifndef ros_Header_h
+#define ros_Header_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+#include "ros/time.h"
+
+namespace std_msgs
+{
+
+  class Header : public ros::Msg
+  {
+    public:
+      unsigned long seq;
+      ros::Time stamp;
+      char * frame_id;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_seq;
+      u_seq.real = this->seq;
+      *(outbuffer + offset + 0) = (u_seq.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_seq.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_seq.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_seq.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_sec;
+      u_sec.real = this->stamp.sec;
+      *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_nsec;
+      u_nsec.real = this->stamp.nsec;
+      *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      long * length_frame_id = (long *)(outbuffer + offset);
+      *length_frame_id = strlen( (const char*) this->frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_id, *length_frame_id);
+      offset += *length_frame_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_seq;
+      u_seq.base = 0;
+      u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->seq = u_seq.real;
+      offset += sizeof(this->seq);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_sec;
+      u_sec.base = 0;
+      u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->stamp.sec = u_sec.real;
+      offset += sizeof(this->stamp.sec);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_nsec;
+      u_nsec.base = 0;
+      u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->stamp.nsec = u_nsec.real;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_frame_id-1]=0;
+      this->frame_id = (char *)(inbuffer + offset-1);
+      offset += length_frame_id;
+     return offset;
+    }
+
+    virtual const char * getType(){ return "std_msgs/Header"; };
+
+  };
+
+}
+#endif
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