ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

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Show/hide line numbers Float64MultiArray.h Source File

Float64MultiArray.h

00001 #ifndef _ROS_std_msgs_Float64MultiArray_h
00002 #define _ROS_std_msgs_Float64MultiArray_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 Float64MultiArray : public ros::Msg
00014   {
00015     public:
00016       std_msgs::MultiArrayLayout layout;
00017       uint8_t data_length;
00018       double st_data;
00019       double * data;
00020 
00021     Float64MultiArray():
00022       layout(),
00023       data_length(0), data(NULL)
00024     {
00025     }
00026 
00027     virtual int serialize(unsigned char *outbuffer) const
00028     {
00029       int offset = 0;
00030       offset += this->layout.serialize(outbuffer + offset);
00031       *(outbuffer + offset++) = data_length;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       for( uint8_t i = 0; i < data_length; i++){
00036       union {
00037         double real;
00038         uint64_t base;
00039       } u_datai;
00040       u_datai.real = this->data[i];
00041       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00042       *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00043       *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
00044       *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
00045       *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
00046       *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
00047       *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
00048       *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
00049       offset += sizeof(this->data[i]);
00050       }
00051       return offset;
00052     }
00053 
00054     virtual int deserialize(unsigned char *inbuffer)
00055     {
00056       int offset = 0;
00057       offset += this->layout.deserialize(inbuffer + offset);
00058       uint8_t data_lengthT = *(inbuffer + offset++);
00059       if(data_lengthT > data_length)
00060         this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
00061       offset += 3;
00062       data_length = data_lengthT;
00063       for( uint8_t i = 0; i < data_length; i++){
00064       union {
00065         double real;
00066         uint64_t base;
00067       } u_st_data;
00068       u_st_data.base = 0;
00069       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00070       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00071       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00072       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00073       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00074       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00075       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00076       u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00077       this->st_data = u_st_data.real;
00078       offset += sizeof(this->st_data);
00079         memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
00080       }
00081      return offset;
00082     }
00083 
00084     const char * getType(){ return "std_msgs/Float64MultiArray"; };
00085     const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
00086 
00087   };
00088 
00089 }
00090 #endif