ChannelFloat32.h

00001 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
00002 #define _ROS_sensor_msgs_ChannelFloat32_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace sensor_msgs
00010 {
00011 
00012   class ChannelFloat32 : public ros::Msg
00013   {
00014     public:
00015       typedef const char* _name_type;
00016       _name_type name;
00017       uint32_t values_length;
00018       typedef float _values_type;
00019       _values_type st_values;
00020       _values_type * values;
00021 
00022     ChannelFloat32():
00023       name(""),
00024       values_length(0), values(NULL)
00025     {
00026     }
00027 
00028     virtual int serialize(unsigned char *outbuffer) const
00029     {
00030       int offset = 0;
00031       uint32_t length_name = strlen(this->name);
00032       varToArr(outbuffer + offset, length_name);
00033       offset += 4;
00034       memcpy(outbuffer + offset, this->name, length_name);
00035       offset += length_name;
00036       *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
00037       *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
00038       *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
00039       *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
00040       offset += sizeof(this->values_length);
00041       for( uint32_t i = 0; i < values_length; i++){
00042       union {
00043         float real;
00044         uint32_t base;
00045       } u_valuesi;
00046       u_valuesi.real = this->values[i];
00047       *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
00048       *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
00049       *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
00050       *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
00051       offset += sizeof(this->values[i]);
00052       }
00053       return offset;
00054     }
00055 
00056     virtual int deserialize(unsigned char *inbuffer)
00057     {
00058       int offset = 0;
00059       uint32_t length_name;
00060       arrToVar(length_name, (inbuffer + offset));
00061       offset += 4;
00062       for(unsigned int k= offset; k< offset+length_name; ++k){
00063           inbuffer[k-1]=inbuffer[k];
00064       }
00065       inbuffer[offset+length_name-1]=0;
00066       this->name = (char *)(inbuffer + offset-1);
00067       offset += length_name;
00068       uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00069       values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00070       values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00071       values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00072       offset += sizeof(this->values_length);
00073       if(values_lengthT > values_length)
00074         this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
00075       values_length = values_lengthT;
00076       for( uint32_t i = 0; i < values_length; i++){
00077       union {
00078         float real;
00079         uint32_t base;
00080       } u_st_values;
00081       u_st_values.base = 0;
00082       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00083       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00084       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00085       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00086       this->st_values = u_st_values.real;
00087       offset += sizeof(this->st_values);
00088         memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
00089       }
00090      return offset;
00091     }
00092 
00093     const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
00094     const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
00095 
00096   };
00097 
00098 }
00099 #endif