ChannelFloat32.h

00001 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
00002 #define _ROS_sensor_msgs_ChannelFloat32_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 ChannelFloat32 : public ros::Msg
00013   {
00014     public:
00015       const char* name;
00016       uint8_t values_length;
00017       float st_values;
00018       float * values;
00019 
00020     ChannelFloat32():
00021       name(""),
00022       values_length(0), values(NULL)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       uint32_t length_name = strlen(this->name);
00030       memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
00031       offset += 4;
00032       memcpy(outbuffer + offset, this->name, length_name);
00033       offset += length_name;
00034       *(outbuffer + offset++) = values_length;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       for( uint8_t i = 0; i < values_length; i++){
00039       union {
00040         float real;
00041         uint32_t base;
00042       } u_valuesi;
00043       u_valuesi.real = this->values[i];
00044       *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
00046       *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
00047       *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
00048       offset += sizeof(this->values[i]);
00049       }
00050       return offset;
00051     }
00052 
00053     virtual int deserialize(unsigned char *inbuffer)
00054     {
00055       int offset = 0;
00056       uint32_t length_name;
00057       memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
00058       offset += 4;
00059       for(unsigned int k= offset; k< offset+length_name; ++k){
00060           inbuffer[k-1]=inbuffer[k];
00061       }
00062       inbuffer[offset+length_name-1]=0;
00063       this->name = (char *)(inbuffer + offset-1);
00064       offset += length_name;
00065       uint8_t values_lengthT = *(inbuffer + offset++);
00066       if(values_lengthT > values_length)
00067         this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
00068       offset += 3;
00069       values_length = values_lengthT;
00070       for( uint8_t i = 0; i < values_length; i++){
00071       union {
00072         float real;
00073         uint32_t base;
00074       } u_st_values;
00075       u_st_values.base = 0;
00076       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00077       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00078       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00079       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00080       this->st_values = u_st_values.real;
00081       offset += sizeof(this->st_values);
00082         memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
00083       }
00084      return offset;
00085     }
00086 
00087     const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
00088     const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
00089 
00090   };
00091 
00092 }
00093 #endif