Floats.h

00001 #ifndef _ROS_rospy_tutorials_Floats_h
00002 #define _ROS_rospy_tutorials_Floats_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace rospy_tutorials
00010 {
00011 
00012   class Floats : public ros::Msg
00013   {
00014     public:
00015       uint8_t data_length;
00016       float st_data;
00017       float * data;
00018 
00019     Floats():
00020       data_length(0), data(NULL)
00021     {
00022     }
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       *(outbuffer + offset++) = data_length;
00028       *(outbuffer + offset++) = 0;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       for( uint8_t i = 0; i < data_length; i++){
00032       union {
00033         float real;
00034         uint32_t base;
00035       } u_datai;
00036       u_datai.real = this->data[i];
00037       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00038       *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00039       *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
00040       *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
00041       offset += sizeof(this->data[i]);
00042       }
00043       return offset;
00044     }
00045 
00046     virtual int deserialize(unsigned char *inbuffer)
00047     {
00048       int offset = 0;
00049       uint8_t data_lengthT = *(inbuffer + offset++);
00050       if(data_lengthT > data_length)
00051         this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
00052       offset += 3;
00053       data_length = data_lengthT;
00054       for( uint8_t i = 0; i < data_length; i++){
00055       union {
00056         float real;
00057         uint32_t base;
00058       } u_st_data;
00059       u_st_data.base = 0;
00060       u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061       u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00062       u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00063       u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00064       this->st_data = u_st_data.real;
00065       offset += sizeof(this->st_data);
00066         memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
00067       }
00068      return offset;
00069     }
00070 
00071     const char * getType(){ return "rospy_tutorials/Floats"; };
00072     const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
00073 
00074   };
00075 
00076 }
00077 #endif