MultiArrayLayout.h

00001 #ifndef _ROS_std_msgs_MultiArrayLayout_h
00002 #define _ROS_std_msgs_MultiArrayLayout_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayDimension.h"
00009 
00010 namespace std_msgs
00011 {
00012 
00013   class MultiArrayLayout : public ros::Msg
00014   {
00015     public:
00016       uint8_t dim_length;
00017       std_msgs::MultiArrayDimension st_dim;
00018       std_msgs::MultiArrayDimension * dim;
00019       uint32_t data_offset;
00020 
00021     MultiArrayLayout():
00022       dim_length(0), dim(NULL),
00023       data_offset(0)
00024     {
00025     }
00026 
00027     virtual int serialize(unsigned char *outbuffer) const
00028     {
00029       int offset = 0;
00030       *(outbuffer + offset++) = dim_length;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       for( uint8_t i = 0; i < dim_length; i++){
00035       offset += this->dim[i].serialize(outbuffer + offset);
00036       }
00037       *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
00038       *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
00039       *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
00040       *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
00041       offset += sizeof(this->data_offset);
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       uint8_t dim_lengthT = *(inbuffer + offset++);
00049       if(dim_lengthT > dim_length)
00050         this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
00051       offset += 3;
00052       dim_length = dim_lengthT;
00053       for( uint8_t i = 0; i < dim_length; i++){
00054       offset += this->st_dim.deserialize(inbuffer + offset);
00055         memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
00056       }
00057       this->data_offset =  ((uint32_t) (*(inbuffer + offset)));
00058       this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00059       this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00060       this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00061       offset += sizeof(this->data_offset);
00062      return offset;
00063     }
00064 
00065     const char * getType(){ return "std_msgs/MultiArrayLayout"; };
00066     const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
00067 
00068   };
00069 
00070 }
00071 #endif