Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

rospy_tutorials/Floats.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_rospy_tutorials_Floats_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rospy_tutorials_Floats_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
garyservin 0:9e9b7db60fd5 9 namespace rospy_tutorials
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Floats : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 uint32_t data_length;
garyservin 0:9e9b7db60fd5 16 typedef float _data_type;
garyservin 0:9e9b7db60fd5 17 _data_type st_data;
garyservin 0:9e9b7db60fd5 18 _data_type * data;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 Floats():
garyservin 0:9e9b7db60fd5 21 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 }
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 int offset = 0;
garyservin 0:9e9b7db60fd5 28 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 33 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 float real;
garyservin 0:9e9b7db60fd5 36 uint32_t base;
garyservin 0:9e9b7db60fd5 37 } u_datai;
garyservin 0:9e9b7db60fd5 38 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 44 }
garyservin 0:9e9b7db60fd5 45 return offset;
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47
garyservin 0:9e9b7db60fd5 48 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 int offset = 0;
garyservin 0:9e9b7db60fd5 51 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 52 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 53 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 54 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 56 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 57 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 58 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 float real;
garyservin 0:9e9b7db60fd5 62 uint32_t base;
garyservin 0:9e9b7db60fd5 63 } u_st_data;
garyservin 0:9e9b7db60fd5 64 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 65 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 66 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
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(float));
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 "rospy_tutorials/Floats"; };
garyservin 0:9e9b7db60fd5 77 const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 #endif