Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

std_msgs/ByteMultiArray.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_std_msgs_ByteMultiArray_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_std_msgs_ByteMultiArray_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/MultiArrayLayout.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace std_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class ByteMultiArray : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::MultiArrayLayout _layout_type;
garyservin 0:9e9b7db60fd5 17 _layout_type layout;
garyservin 0:9e9b7db60fd5 18 uint32_t data_length;
garyservin 0:9e9b7db60fd5 19 typedef int8_t _data_type;
garyservin 0:9e9b7db60fd5 20 _data_type st_data;
garyservin 0:9e9b7db60fd5 21 _data_type * data;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 ByteMultiArray():
garyservin 0:9e9b7db60fd5 24 layout(),
garyservin 0:9e9b7db60fd5 25 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 offset += this->layout.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 38 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 int8_t real;
garyservin 0:9e9b7db60fd5 41 uint8_t base;
garyservin 0:9e9b7db60fd5 42 } u_datai;
garyservin 0:9e9b7db60fd5 43 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 int offset = 0;
garyservin 0:9e9b7db60fd5 53 offset += this->layout.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 54 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 55 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 56 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 57 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 59 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 60 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:9e9b7db60fd5 61 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 62 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 63 union {
garyservin 0:9e9b7db60fd5 64 int8_t real;
garyservin 0:9e9b7db60fd5 65 uint8_t base;
garyservin 0:9e9b7db60fd5 66 } u_st_data;
garyservin 0:9e9b7db60fd5 67 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 68 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 69 this->st_data = u_st_data.real;
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 71 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 return offset;
garyservin 0:9e9b7db60fd5 74 }
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 const char * getType(){ return "std_msgs/ByteMultiArray"; };
garyservin 0:9e9b7db60fd5 77 const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 #endif