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std_msgs/ByteMultiArray.h@3:2a3664dc6634, 2019-08-13 (annotated)

Committer:
Jeonghoon
Date:
Tue Aug 13 05:53:22 2019 +0000
Revision:
3:2a3664dc6634
with ROS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_std_msgs_ByteMultiArray_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_std_msgs_ByteMultiArray_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/MultiArrayLayout.h"
Jeonghoon 3:2a3664dc6634 9
Jeonghoon 3:2a3664dc6634 10 namespace std_msgs
Jeonghoon 3:2a3664dc6634 11 {
Jeonghoon 3:2a3664dc6634 12
Jeonghoon 3:2a3664dc6634 13 class ByteMultiArray : public ros::Msg
Jeonghoon 3:2a3664dc6634 14 {
Jeonghoon 3:2a3664dc6634 15 public:
Jeonghoon 3:2a3664dc6634 16 typedef std_msgs::MultiArrayLayout _layout_type;
Jeonghoon 3:2a3664dc6634 17 _layout_type layout;
Jeonghoon 3:2a3664dc6634 18 uint32_t data_length;
Jeonghoon 3:2a3664dc6634 19 typedef int8_t _data_type;
Jeonghoon 3:2a3664dc6634 20 _data_type st_data;
Jeonghoon 3:2a3664dc6634 21 _data_type * data;
Jeonghoon 3:2a3664dc6634 22
Jeonghoon 3:2a3664dc6634 23 ByteMultiArray():
Jeonghoon 3:2a3664dc6634 24 layout(),
Jeonghoon 3:2a3664dc6634 25 data_length(0), data(NULL)
Jeonghoon 3:2a3664dc6634 26 {
Jeonghoon 3:2a3664dc6634 27 }
Jeonghoon 3:2a3664dc6634 28
Jeonghoon 3:2a3664dc6634 29 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 30 {
Jeonghoon 3:2a3664dc6634 31 int offset = 0;
Jeonghoon 3:2a3664dc6634 32 offset += this->layout.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 37 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 38 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 39 union {
Jeonghoon 3:2a3664dc6634 40 int8_t real;
Jeonghoon 3:2a3664dc6634 41 uint8_t base;
Jeonghoon 3:2a3664dc6634 42 } u_datai;
Jeonghoon 3:2a3664dc6634 43 u_datai.real = this->data[i];
Jeonghoon 3:2a3664dc6634 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 45 offset += sizeof(this->data[i]);
Jeonghoon 3:2a3664dc6634 46 }
Jeonghoon 3:2a3664dc6634 47 return offset;
Jeonghoon 3:2a3664dc6634 48 }
Jeonghoon 3:2a3664dc6634 49
Jeonghoon 3:2a3664dc6634 50 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 51 {
Jeonghoon 3:2a3664dc6634 52 int offset = 0;
Jeonghoon 3:2a3664dc6634 53 offset += this->layout.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 54 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 55 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 56 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 57 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 58 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 59 if(data_lengthT > data_length)
Jeonghoon 3:2a3664dc6634 60 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
Jeonghoon 3:2a3664dc6634 61 data_length = data_lengthT;
Jeonghoon 3:2a3664dc6634 62 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 63 union {
Jeonghoon 3:2a3664dc6634 64 int8_t real;
Jeonghoon 3:2a3664dc6634 65 uint8_t base;
Jeonghoon 3:2a3664dc6634 66 } u_st_data;
Jeonghoon 3:2a3664dc6634 67 u_st_data.base = 0;
Jeonghoon 3:2a3664dc6634 68 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 69 this->st_data = u_st_data.real;
Jeonghoon 3:2a3664dc6634 70 offset += sizeof(this->st_data);
Jeonghoon 3:2a3664dc6634 71 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
Jeonghoon 3:2a3664dc6634 72 }
Jeonghoon 3:2a3664dc6634 73 return offset;
Jeonghoon 3:2a3664dc6634 74 }
Jeonghoon 3:2a3664dc6634 75
Jeonghoon 3:2a3664dc6634 76 const char * getType(){ return "std_msgs/ByteMultiArray"; };
Jeonghoon 3:2a3664dc6634 77 const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
Jeonghoon 3:2a3664dc6634 78
Jeonghoon 3:2a3664dc6634 79 };
Jeonghoon 3:2a3664dc6634 80
Jeonghoon 3:2a3664dc6634 81 }
Jeonghoon 3:2a3664dc6634 82 #endif