ByteMultiArray.h

00001 #ifndef _ROS_std_msgs_ByteMultiArray_h
00002 #define _ROS_std_msgs_ByteMultiArray_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009 
00010 namespace std_msgs
00011 {
00012 
00013   class ByteMultiArray : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::MultiArrayLayout _layout_type;
00017       _layout_type layout;
00018       uint32_t data_length;
00019       typedef int8_t _data_type;
00020       _data_type st_data;
00021       _data_type * data;
00022 
00023     ByteMultiArray():
00024       layout(),
00025       data_length(0), data(NULL)
00026     {
00027     }
00028 
00029     virtual int serialize(unsigned char *outbuffer) const
00030     {
00031       int offset = 0;
00032       offset += this->layout.serialize(outbuffer + offset);
00033       *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->data_length);
00038       for( uint32_t i = 0; i < data_length; i++){
00039       union {
00040         int8_t real;
00041         uint8_t base;
00042       } u_datai;
00043       u_datai.real = this->data[i];
00044       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00045       offset += sizeof(this->data[i]);
00046       }
00047       return offset;
00048     }
00049 
00050     virtual int deserialize(unsigned char *inbuffer)
00051     {
00052       int offset = 0;
00053       offset += this->layout.deserialize(inbuffer + offset);
00054       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00055       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00056       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00057       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00058       offset += sizeof(this->data_length);
00059       if(data_lengthT > data_length)
00060         this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
00061       data_length = data_lengthT;
00062       for( uint32_t i = 0; i < data_length; i++){
00063       union {
00064         int8_t real;
00065         uint8_t base;
00066       } u_st_data;
00067       u_st_data.base = 0;
00068       u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00069       this->st_data = u_st_data.real;
00070       offset += sizeof(this->st_data);
00071         memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
00072       }
00073      return offset;
00074     }
00075 
00076     const char * getType(){ return "std_msgs/ByteMultiArray"; };
00077     const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
00078 
00079   };
00080 
00081 }
00082 #endif