ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
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
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