change rate38400->115200
Fork of ros_lib_kinetic by
Diff: sensor_msgs/ChannelFloat32.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/ChannelFloat32.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,99 @@ +#ifndef _ROS_sensor_msgs_ChannelFloat32_h +#define _ROS_sensor_msgs_ChannelFloat32_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace sensor_msgs +{ + + class ChannelFloat32 : public ros::Msg + { + public: + typedef const char* _name_type; + _name_type name; + uint32_t values_length; + typedef float _values_type; + _values_type st_values; + _values_type * values; + + ChannelFloat32(): + name(""), + values_length(0), values(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_name = strlen(this->name); + varToArr(outbuffer + offset, length_name); + offset += 4; + memcpy(outbuffer + offset, this->name, length_name); + offset += length_name; + *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->values_length); + for( uint32_t i = 0; i < values_length; i++){ + union { + float real; + uint32_t base; + } u_valuesi; + u_valuesi.real = this->values[i]; + *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->values[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_name; + arrToVar(length_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); + values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->values_length); + if(values_lengthT > values_length) + this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); + values_length = values_lengthT; + for( uint32_t i = 0; i < values_length; i++){ + union { + float real; + uint32_t base; + } u_st_values; + u_st_values.base = 0; + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->st_values = u_st_values.real; + offset += sizeof(this->st_values); + memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); + } + return offset; + } + + const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; + const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; + + }; + +} +#endif \ No newline at end of file