SonarArray.h

00001 #ifndef _ROS_zetabot_main_SonarArray_h
00002 #define _ROS_zetabot_main_SonarArray_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace zetabot_main
00010 {
00011 
00012   class SonarArray : public ros::Msg
00013   {
00014     public:
00015       float data[10];
00016 
00017     SonarArray():
00018       data()
00019     {
00020     }
00021 
00022     virtual int serialize(unsigned char *outbuffer) const
00023     {
00024       int offset = 0;
00025       for( uint32_t i = 0; i < 10; i++){
00026       union {
00027         float real;
00028         uint32_t base;
00029       } u_datai;
00030       u_datai.real = this->data[i];
00031       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00032       *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00033       *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
00034       *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
00035       offset += sizeof(this->data[i]);
00036       }
00037       return offset;
00038     }
00039 
00040     virtual int deserialize(unsigned char *inbuffer)
00041     {
00042       int offset = 0;
00043       for( uint32_t i = 0; i < 10; i++){
00044       union {
00045         float real;
00046         uint32_t base;
00047       } u_datai;
00048       u_datai.base = 0;
00049       u_datai.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00050       u_datai.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00051       u_datai.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00052       u_datai.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00053       this->data[i] = u_datai.real;
00054       offset += sizeof(this->data[i]);
00055       }
00056      return offset;
00057     }
00058 
00059     const char * getType(){ return "zetabot_main/SonarArray"; };
00060     const char * getMD5(){ return "20c51f19eb629e3866f0586fd6ddf716"; };
00061 
00062   };
00063 
00064 }
00065 #endif