Gary Servin / rosserial_mbed_lib

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Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

std_msgs/Int64MultiArray.h@3:1cf99502f396, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:54:45 2011 +0000
Revision:
3:1cf99502f396
Parent:
1:ff0ec969dad1 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_std_msgs_Int64MultiArray_h
nucho 3:1cf99502f396 2 #define _ROS_std_msgs_Int64MultiArray_h
nucho 3:1cf99502f396 3
nucho 3:1cf99502f396 4 #include <stdint.h>
nucho 3:1cf99502f396 5 #include <string.h>
nucho 3:1cf99502f396 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 3:1cf99502f396 8 #include "std_msgs/MultiArrayLayout.h"
nucho 3:1cf99502f396 9
nucho 3:1cf99502f396 10 namespace std_msgs {
nucho 3:1cf99502f396 11
nucho 3:1cf99502f396 12 class Int64MultiArray : public ros::Msg {
nucho 3:1cf99502f396 13 public:
nucho 3:1cf99502f396 14 std_msgs::MultiArrayLayout layout;
nucho 3:1cf99502f396 15 unsigned char data_length;
nucho 3:1cf99502f396 16 int64_t st_data;
nucho 3:1cf99502f396 17 int64_t * data;
nucho 3:1cf99502f396 18
nucho 3:1cf99502f396 19 virtual int serialize(unsigned char *outbuffer) const {
nucho 3:1cf99502f396 20 int offset = 0;
nucho 3:1cf99502f396 21 offset += this->layout.serialize(outbuffer + offset);
nucho 3:1cf99502f396 22 *(outbuffer + offset++) = data_length;
nucho 3:1cf99502f396 23 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 24 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 25 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 26 for ( unsigned char i = 0; i < data_length; i++) {
nucho 3:1cf99502f396 27 union {
nucho 3:1cf99502f396 28 int64_t real;
nucho 3:1cf99502f396 29 uint64_t base;
nucho 3:1cf99502f396 30 } u_datai;
nucho 3:1cf99502f396 31 u_datai.real = this->data[i];
nucho 3:1cf99502f396 32 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 3:1cf99502f396 33 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
nucho 3:1cf99502f396 34 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
nucho 3:1cf99502f396 35 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
nucho 3:1cf99502f396 36 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
nucho 3:1cf99502f396 37 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
nucho 3:1cf99502f396 38 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
nucho 3:1cf99502f396 39 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
nucho 3:1cf99502f396 40 offset += sizeof(this->data[i]);
nucho 3:1cf99502f396 41 }
nucho 3:1cf99502f396 42 return offset;
nucho 3:1cf99502f396 43 }
nucho 3:1cf99502f396 44
nucho 3:1cf99502f396 45 virtual int deserialize(unsigned char *inbuffer) {
nucho 3:1cf99502f396 46 int offset = 0;
nucho 3:1cf99502f396 47 offset += this->layout.deserialize(inbuffer + offset);
nucho 3:1cf99502f396 48 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 3:1cf99502f396 49 if (data_lengthT > data_length)
nucho 3:1cf99502f396 50 this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
nucho 3:1cf99502f396 51 offset += 3;
nucho 3:1cf99502f396 52 data_length = data_lengthT;
nucho 3:1cf99502f396 53 for ( unsigned char i = 0; i < data_length; i++) {
nucho 3:1cf99502f396 54 union {
nucho 3:1cf99502f396 55 int64_t real;
nucho 3:1cf99502f396 56 uint64_t base;
nucho 3:1cf99502f396 57 } u_st_data;
nucho 3:1cf99502f396 58 u_st_data.base = 0;
nucho 3:1cf99502f396 59 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 60 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 61 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:1cf99502f396 62 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 3:1cf99502f396 63 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
nucho 3:1cf99502f396 64 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
nucho 3:1cf99502f396 65 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
nucho 3:1cf99502f396 66 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
nucho 3:1cf99502f396 67 this->st_data = u_st_data.real;
nucho 3:1cf99502f396 68 offset += sizeof(this->st_data);
nucho 3:1cf99502f396 69 memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
nucho 3:1cf99502f396 70 }
nucho 3:1cf99502f396 71 return offset;
nucho 3:1cf99502f396 72 }
nucho 3:1cf99502f396 73
nucho 3:1cf99502f396 74 virtual const char * getType() {
nucho 3:1cf99502f396 75 return "std_msgs/Int64MultiArray";
nucho 3:1cf99502f396 76 };
nucho 3:1cf99502f396 77 virtual const char * getMD5() {
nucho 3:1cf99502f396 78 return "54865aa6c65be0448113a2afc6a49270";
nucho 3:1cf99502f396 79 };
nucho 3:1cf99502f396 80
nucho 3:1cf99502f396 81 };
nucho 3:1cf99502f396 82
nucho 3:1cf99502f396 83 }
nucho 0:77afd7560544 84 #endif