Int16MultiArray.h

00001 #ifndef _ROS_std_msgs_Int16MultiArray_h
00002 #define _ROS_std_msgs_Int16MultiArray_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 Int16MultiArray : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::MultiArrayLayout _layout_type;
00017       _layout_type layout;
00018       uint32_t data_length;
00019       typedef int16_t _data_type;
00020       _data_type st_data;
00021       _data_type * data;
00022 
00023     Int16MultiArray():
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         int16_t real;
00041         uint16_t base;
00042       } u_datai;
00043       u_datai.real = this->data[i];
00044       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00046       offset += sizeof(this->data[i]);
00047       }
00048       return offset;
00049     }
00050 
00051     virtual int deserialize(unsigned char *inbuffer)
00052     {
00053       int offset = 0;
00054       offset += this->layout.deserialize(inbuffer + offset);
00055       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00056       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00057       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00058       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00059       offset += sizeof(this->data_length);
00060       if(data_lengthT > data_length)
00061         this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
00062       data_length = data_lengthT;
00063       for( uint32_t i = 0; i < data_length; i++){
00064       union {
00065         int16_t real;
00066         uint16_t base;
00067       } u_st_data;
00068       u_st_data.base = 0;
00069       u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
00070       u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00071       this->st_data = u_st_data.real;
00072       offset += sizeof(this->st_data);
00073         memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
00074       }
00075      return offset;
00076     }
00077 
00078     const char * getType(){ return "std_msgs/Int16MultiArray"; };
00079     const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
00080 
00081   };
00082 
00083 }
00084 #endif