LaserEcho.h

00001 #ifndef _ROS_sensor_msgs_LaserEcho_h
00002 #define _ROS_sensor_msgs_LaserEcho_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 LaserEcho : public ros::Msg
00013   {
00014     public:
00015       uint32_t echoes_length;
00016       typedef float _echoes_type;
00017       _echoes_type st_echoes;
00018       _echoes_type * echoes;
00019 
00020     LaserEcho():
00021       echoes_length(0), echoes(NULL)
00022     {
00023     }
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       *(outbuffer + offset + 0) = (this->echoes_length >> (8 * 0)) & 0xFF;
00029       *(outbuffer + offset + 1) = (this->echoes_length >> (8 * 1)) & 0xFF;
00030       *(outbuffer + offset + 2) = (this->echoes_length >> (8 * 2)) & 0xFF;
00031       *(outbuffer + offset + 3) = (this->echoes_length >> (8 * 3)) & 0xFF;
00032       offset += sizeof(this->echoes_length);
00033       for( uint32_t i = 0; i < echoes_length; i++){
00034       union {
00035         float real;
00036         uint32_t base;
00037       } u_echoesi;
00038       u_echoesi.real = this->echoes[i];
00039       *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->echoes[i]);
00044       }
00045       return offset;
00046     }
00047 
00048     virtual int deserialize(unsigned char *inbuffer)
00049     {
00050       int offset = 0;
00051       uint32_t echoes_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00052       echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00053       echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00054       echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00055       offset += sizeof(this->echoes_length);
00056       if(echoes_lengthT > echoes_length)
00057         this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float));
00058       echoes_length = echoes_lengthT;
00059       for( uint32_t i = 0; i < echoes_length; i++){
00060       union {
00061         float real;
00062         uint32_t base;
00063       } u_st_echoes;
00064       u_st_echoes.base = 0;
00065       u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00066       u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00067       u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00068       u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00069       this->st_echoes = u_st_echoes.real;
00070       offset += sizeof(this->st_echoes);
00071         memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float));
00072       }
00073      return offset;
00074     }
00075 
00076     const char * getType(){ return "sensor_msgs/LaserEcho"; };
00077     const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; };
00078 
00079   };
00080 
00081 }
00082 #endif