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rosserial_mbed_lib
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Fork of
rosserial_mbed_lib
by 
nucho
std_msgs/MultiArrayDimension.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_MultiArrayDimension_h |
| nucho | 0:77afd7560544 | 2 | #define ros_MultiArrayDimension_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | |
| nucho | 0:77afd7560544 | 9 | namespace std_msgs |
| nucho | 0:77afd7560544 | 10 | { |
| nucho | 0:77afd7560544 | 11 | |
| nucho | 0:77afd7560544 | 12 | class MultiArrayDimension : public ros::Msg |
| nucho | 0:77afd7560544 | 13 | { |
| nucho | 0:77afd7560544 | 14 | public: |
| nucho | 0:77afd7560544 | 15 | char * label; |
| nucho | 0:77afd7560544 | 16 | unsigned long size; |
| nucho | 0:77afd7560544 | 17 | unsigned long stride; |
| nucho | 0:77afd7560544 | 18 | |
| nucho | 0:77afd7560544 | 19 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 20 | { |
| nucho | 0:77afd7560544 | 21 | int offset = 0; |
| nucho | 0:77afd7560544 | 22 | long * length_label = (long *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 23 | *length_label = strlen( (const char*) this->label); |
| nucho | 0:77afd7560544 | 24 | offset += 4; |
| nucho | 0:77afd7560544 | 25 | memcpy(outbuffer + offset, this->label, *length_label); |
| nucho | 0:77afd7560544 | 26 | offset += *length_label; |
| nucho | 0:77afd7560544 | 27 | union { |
| nucho | 0:77afd7560544 | 28 | unsigned long real; |
| nucho | 0:77afd7560544 | 29 | unsigned long base; |
| nucho | 0:77afd7560544 | 30 | } u_size; |
| nucho | 0:77afd7560544 | 31 | u_size.real = this->size; |
| nucho | 0:77afd7560544 | 32 | *(outbuffer + offset + 0) = (u_size.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 33 | *(outbuffer + offset + 1) = (u_size.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 34 | *(outbuffer + offset + 2) = (u_size.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 35 | *(outbuffer + offset + 3) = (u_size.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 36 | offset += sizeof(this->size); |
| nucho | 0:77afd7560544 | 37 | union { |
| nucho | 0:77afd7560544 | 38 | unsigned long real; |
| nucho | 0:77afd7560544 | 39 | unsigned long base; |
| nucho | 0:77afd7560544 | 40 | } u_stride; |
| nucho | 0:77afd7560544 | 41 | u_stride.real = this->stride; |
| nucho | 0:77afd7560544 | 42 | *(outbuffer + offset + 0) = (u_stride.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 43 | *(outbuffer + offset + 1) = (u_stride.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 44 | *(outbuffer + offset + 2) = (u_stride.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 45 | *(outbuffer + offset + 3) = (u_stride.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 46 | offset += sizeof(this->stride); |
| nucho | 0:77afd7560544 | 47 | return offset; |
| nucho | 0:77afd7560544 | 48 | } |
| nucho | 0:77afd7560544 | 49 | |
| nucho | 0:77afd7560544 | 50 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 51 | { |
| nucho | 0:77afd7560544 | 52 | int offset = 0; |
| nucho | 0:77afd7560544 | 53 | uint32_t length_label = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 54 | offset += 4; |
| nucho | 0:77afd7560544 | 55 | for(unsigned int k= offset; k< offset+length_label; ++k){ |
| nucho | 0:77afd7560544 | 56 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:77afd7560544 | 57 | } |
| nucho | 0:77afd7560544 | 58 | inbuffer[offset+length_label-1]=0; |
| nucho | 0:77afd7560544 | 59 | this->label = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 60 | offset += length_label; |
| nucho | 0:77afd7560544 | 61 | union { |
| nucho | 0:77afd7560544 | 62 | unsigned long real; |
| nucho | 0:77afd7560544 | 63 | unsigned long base; |
| nucho | 0:77afd7560544 | 64 | } u_size; |
| nucho | 0:77afd7560544 | 65 | u_size.base = 0; |
| nucho | 0:77afd7560544 | 66 | u_size.base |= ((typeof(u_size.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 67 | u_size.base |= ((typeof(u_size.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 68 | u_size.base |= ((typeof(u_size.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 69 | u_size.base |= ((typeof(u_size.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 70 | this->size = u_size.real; |
| nucho | 0:77afd7560544 | 71 | offset += sizeof(this->size); |
| nucho | 0:77afd7560544 | 72 | union { |
| nucho | 0:77afd7560544 | 73 | unsigned long real; |
| nucho | 0:77afd7560544 | 74 | unsigned long base; |
| nucho | 0:77afd7560544 | 75 | } u_stride; |
| nucho | 0:77afd7560544 | 76 | u_stride.base = 0; |
| nucho | 0:77afd7560544 | 77 | u_stride.base |= ((typeof(u_stride.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 78 | u_stride.base |= ((typeof(u_stride.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 79 | u_stride.base |= ((typeof(u_stride.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 80 | u_stride.base |= ((typeof(u_stride.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 81 | this->stride = u_stride.real; |
| nucho | 0:77afd7560544 | 82 | offset += sizeof(this->stride); |
| nucho | 0:77afd7560544 | 83 | return offset; |
| nucho | 0:77afd7560544 | 84 | } |
| nucho | 0:77afd7560544 | 85 | |
| nucho | 0:77afd7560544 | 86 | virtual const char * getType(){ return "std_msgs/MultiArrayDimension"; }; |
| nucho | 0:77afd7560544 | 87 | |
| nucho | 0:77afd7560544 | 88 | }; |
| nucho | 0:77afd7560544 | 89 | |
| nucho | 0:77afd7560544 | 90 | } |
| nucho | 0:77afd7560544 | 91 | #endif |