Robotic Team 1 / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

sensor_msgs/ChannelFloat32.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_ChannelFloat32_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace sensor_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class ChannelFloat32 : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 const char* name;
garyservin 0:fd24f7ca9688 16 uint8_t values_length;
garyservin 0:fd24f7ca9688 17 float st_values;
garyservin 0:fd24f7ca9688 18 float * values;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 ChannelFloat32():
garyservin 0:fd24f7ca9688 21 name(""),
garyservin 0:fd24f7ca9688 22 values_length(0), values(NULL)
garyservin 0:fd24f7ca9688 23 {
garyservin 0:fd24f7ca9688 24 }
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 int offset = 0;
garyservin 0:fd24f7ca9688 29 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 31 offset += 4;
garyservin 0:fd24f7ca9688 32 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 33 offset += length_name;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = values_length;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 38 for( uint8_t i = 0; i < values_length; i++){
garyservin 0:fd24f7ca9688 39 union {
garyservin 0:fd24f7ca9688 40 float real;
garyservin 0:fd24f7ca9688 41 uint32_t base;
garyservin 0:fd24f7ca9688 42 } u_valuesi;
garyservin 0:fd24f7ca9688 43 u_valuesi.real = this->values[i];
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 48 offset += sizeof(this->values[i]);
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 54 {
garyservin 0:fd24f7ca9688 55 int offset = 0;
garyservin 0:fd24f7ca9688 56 uint32_t length_name;
garyservin 0:fd24f7ca9688 57 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 58 offset += 4;
garyservin 0:fd24f7ca9688 59 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 60 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 61 }
garyservin 0:fd24f7ca9688 62 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 63 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 64 offset += length_name;
garyservin 0:fd24f7ca9688 65 uint8_t values_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 66 if(values_lengthT > values_length)
garyservin 0:fd24f7ca9688 67 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
garyservin 0:fd24f7ca9688 68 offset += 3;
garyservin 0:fd24f7ca9688 69 values_length = values_lengthT;
garyservin 0:fd24f7ca9688 70 for( uint8_t i = 0; i < values_length; i++){
garyservin 0:fd24f7ca9688 71 union {
garyservin 0:fd24f7ca9688 72 float real;
garyservin 0:fd24f7ca9688 73 uint32_t base;
garyservin 0:fd24f7ca9688 74 } u_st_values;
garyservin 0:fd24f7ca9688 75 u_st_values.base = 0;
garyservin 0:fd24f7ca9688 76 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 77 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 78 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 79 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 80 this->st_values = u_st_values.real;
garyservin 0:fd24f7ca9688 81 offset += sizeof(this->st_values);
garyservin 0:fd24f7ca9688 82 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
garyservin 0:fd24f7ca9688 83 }
garyservin 0:fd24f7ca9688 84 return offset;
garyservin 0:fd24f7ca9688 85 }
garyservin 0:fd24f7ca9688 86
garyservin 0:fd24f7ca9688 87 const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
garyservin 0:fd24f7ca9688 88 const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 };
garyservin 0:fd24f7ca9688 91
garyservin 0:fd24f7ca9688 92 }
garyservin 0:fd24f7ca9688 93 #endif