Header.h

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#ifndef _ROS_std_msgs_Header_h
#define _ROS_std_msgs_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:
      uint32_t seq;
      ros::Time stamp;
      const char* frame_id;

    Header():
      seq(0),
      stamp(),
      frame_id("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
      offset += sizeof(this->seq);
      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->stamp.sec);
      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->stamp.nsec);
      uint32_t length_frame_id = strlen(this->frame_id);
      memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t));
      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;
      this->seq =  ((uint32_t) (*(inbuffer + offset)));
      this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->seq);
      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->stamp.sec);
      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->stamp.nsec);
      uint32_t length_frame_id;
      memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t));
      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;
    }

    const char * getType(){ return "std_msgs/Header"; };
    const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };

  };

}
#endif