ChannelFloat32.h

00001 　　#ifndef _ROS_sensor_msgs_ChannelFloat32_h
00002 #define _ROS_sensor_msgs_ChannelFloat32_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace sensor_msgs
00010 {
00011 
00012   class ChannelFloat32 : public ros::Msg
00013   {
00014     public:
00015       char * name;
00016       uint8_t values_length;
00017       float st_values;
00018       float * values;
00019 
00020     virtual int serialize(unsigned char *outbuffer) const
00021     {
00022       int offset = 0;
00023       uint32_t * length_name = (uint32_t *)(outbuffer + offset);
00024       *length_name = strlen( (const char*) this->name);
00025       offset += 4;
00026       memcpy(outbuffer + offset, this->name, *length_name);
00027       offset += *length_name;
00028       *(outbuffer + offset++) = values_length;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       for( uint8_t i = 0; i < values_length; i++){
00033       union {
00034         float real;
00035         uint32_t base;
00036       } u_valuesi;
00037       u_valuesi.real = this->values[i];
00038       *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
00039       *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
00040       *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
00041       *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
00042       offset += sizeof(this->values[i]);
00043       }
00044       return offset;
00045     }
00046 
00047     virtual int deserialize(unsigned char *inbuffer)
00048     {
00049       int offset = 0;
00050       uint32_t length_name = *(uint32_t *)(inbuffer + offset);
00051       offset += 4;
00052       for(unsigned int k= offset; k< offset+length_name; ++k){
00053           inbuffer[k-1]=inbuffer[k];
00054       }
00055       inbuffer[offset+length_name-1]=0;
00056       this->name = (char *)(inbuffer + offset-1);
00057       offset += length_name;
00058       uint8_t values_lengthT = *(inbuffer + offset++);
00059       if(values_lengthT > values_length)
00060         this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
00061       offset += 3;
00062       values_length = values_lengthT;
00063       for( uint8_t i = 0; i < values_length; i++){
00064       union {
00065         float real;
00066         uint32_t base;
00067       } u_st_values;
00068       u_st_values.base = 0;
00069       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00070       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00071       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00072       u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00073       this->st_values = u_st_values.real;
00074       offset += sizeof(this->st_values);
00075         memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
00076       }
00077      return offset;
00078     }
00079 
00080     virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
00081     virtual const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
00082 
00083   };
00084 
00085 }
00086 #endif