Int16MultiArray.h

00001 #ifndef _ROS_std_msgs_Int16MultiArray_h
00002 #define _ROS_std_msgs_Int16MultiArray_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 Int16MultiArray : public ros::Msg
00014   {
00015     public:
00016       std_msgs::MultiArrayLayout layout;
00017       uint8_t data_length;
00018       int16_t st_data;
00019       int16_t * data;
00020 
00021     Int16MultiArray():
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         int16_t real;
00038         uint16_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       offset += sizeof(this->data[i]);
00044       }
00045       return offset;
00046     }
00047 
00048     virtual int deserialize(unsigned char *inbuffer)
00049     {
00050       int offset = 0;
00051       offset += this->layout.deserialize(inbuffer + offset);
00052       uint8_t data_lengthT = *(inbuffer + offset++);
00053       if(data_lengthT > data_length)
00054         this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
00055       offset += 3;
00056       data_length = data_lengthT;
00057       for( uint8_t i = 0; i < data_length; i++){
00058       union {
00059         int16_t real;
00060         uint16_t base;
00061       } u_st_data;
00062       u_st_data.base = 0;
00063       u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
00064       u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00065       this->st_data = u_st_data.real;
00066       offset += sizeof(this->st_data);
00067         memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
00068       }
00069      return offset;
00070     }
00071 
00072     const char * getType(){ return "std_msgs/Int16MultiArray"; };
00073     const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
00074 
00075   };
00076 
00077 }
00078 #endif