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Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/ChannelFloat32.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_ChannelFloat32_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
Jeonghoon 3:2a3664dc6634 9 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 10 {
Jeonghoon 3:2a3664dc6634 11
Jeonghoon 3:2a3664dc6634 12 class ChannelFloat32 : public ros::Msg
Jeonghoon 3:2a3664dc6634 13 {
Jeonghoon 3:2a3664dc6634 14 public:
Jeonghoon 3:2a3664dc6634 15 typedef const char* _name_type;
Jeonghoon 3:2a3664dc6634 16 _name_type name;
Jeonghoon 3:2a3664dc6634 17 uint32_t values_length;
Jeonghoon 3:2a3664dc6634 18 typedef float _values_type;
Jeonghoon 3:2a3664dc6634 19 _values_type st_values;
Jeonghoon 3:2a3664dc6634 20 _values_type * values;
Jeonghoon 3:2a3664dc6634 21
Jeonghoon 3:2a3664dc6634 22 ChannelFloat32():
Jeonghoon 3:2a3664dc6634 23 name(""),
Jeonghoon 3:2a3664dc6634 24 values_length(0), values(NULL)
Jeonghoon 3:2a3664dc6634 25 {
Jeonghoon 3:2a3664dc6634 26 }
Jeonghoon 3:2a3664dc6634 27
Jeonghoon 3:2a3664dc6634 28 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 29 {
Jeonghoon 3:2a3664dc6634 30 int offset = 0;
Jeonghoon 3:2a3664dc6634 31 uint32_t length_name = strlen(this->name);
Jeonghoon 3:2a3664dc6634 32 varToArr(outbuffer + offset, length_name);
Jeonghoon 3:2a3664dc6634 33 offset += 4;
Jeonghoon 3:2a3664dc6634 34 memcpy(outbuffer + offset, this->name, length_name);
Jeonghoon 3:2a3664dc6634 35 offset += length_name;
Jeonghoon 3:2a3664dc6634 36 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 37 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 38 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 39 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 40 offset += sizeof(this->values_length);
Jeonghoon 3:2a3664dc6634 41 for( uint32_t i = 0; i < values_length; i++){
Jeonghoon 3:2a3664dc6634 42 union {
Jeonghoon 3:2a3664dc6634 43 float real;
Jeonghoon 3:2a3664dc6634 44 uint32_t base;
Jeonghoon 3:2a3664dc6634 45 } u_valuesi;
Jeonghoon 3:2a3664dc6634 46 u_valuesi.real = this->values[i];
Jeonghoon 3:2a3664dc6634 47 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 48 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 49 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 50 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 51 offset += sizeof(this->values[i]);
Jeonghoon 3:2a3664dc6634 52 }
Jeonghoon 3:2a3664dc6634 53 return offset;
Jeonghoon 3:2a3664dc6634 54 }
Jeonghoon 3:2a3664dc6634 55
Jeonghoon 3:2a3664dc6634 56 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 57 {
Jeonghoon 3:2a3664dc6634 58 int offset = 0;
Jeonghoon 3:2a3664dc6634 59 uint32_t length_name;
Jeonghoon 3:2a3664dc6634 60 arrToVar(length_name, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 61 offset += 4;
Jeonghoon 3:2a3664dc6634 62 for(unsigned int k= offset; k< offset+length_name; ++k){
Jeonghoon 3:2a3664dc6634 63 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 64 }
Jeonghoon 3:2a3664dc6634 65 inbuffer[offset+length_name-1]=0;
Jeonghoon 3:2a3664dc6634 66 this->name = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 67 offset += length_name;
Jeonghoon 3:2a3664dc6634 68 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 69 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 70 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 71 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 72 offset += sizeof(this->values_length);
Jeonghoon 3:2a3664dc6634 73 if(values_lengthT > values_length)
Jeonghoon 3:2a3664dc6634 74 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
Jeonghoon 3:2a3664dc6634 75 values_length = values_lengthT;
Jeonghoon 3:2a3664dc6634 76 for( uint32_t i = 0; i < values_length; i++){
Jeonghoon 3:2a3664dc6634 77 union {
Jeonghoon 3:2a3664dc6634 78 float real;
Jeonghoon 3:2a3664dc6634 79 uint32_t base;
Jeonghoon 3:2a3664dc6634 80 } u_st_values;
Jeonghoon 3:2a3664dc6634 81 u_st_values.base = 0;
Jeonghoon 3:2a3664dc6634 82 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 83 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 84 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 85 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 86 this->st_values = u_st_values.real;
Jeonghoon 3:2a3664dc6634 87 offset += sizeof(this->st_values);
Jeonghoon 3:2a3664dc6634 88 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
Jeonghoon 3:2a3664dc6634 89 }
Jeonghoon 3:2a3664dc6634 90 return offset;
Jeonghoon 3:2a3664dc6634 91 }
Jeonghoon 3:2a3664dc6634 92
Jeonghoon 3:2a3664dc6634 93 const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
Jeonghoon 3:2a3664dc6634 94 const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
Jeonghoon 3:2a3664dc6634 95
Jeonghoon 3:2a3664dc6634 96 };
Jeonghoon 3:2a3664dc6634 97
Jeonghoon 3:2a3664dc6634 98 }
Jeonghoon 3:2a3664dc6634 99 #endif