Gary Servin / rosserial_mbed_lib

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Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

std_msgs/MultiArrayLayout.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_MultiArrayLayout_h
nucho 3:1cf99502f396 2 #define _ROS_std_msgs_MultiArrayLayout_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/MultiArrayDimension.h"
nucho 3:1cf99502f396 9
nucho 3:1cf99502f396 10 namespace std_msgs
nucho 3:1cf99502f396 11 {
nucho 3:1cf99502f396 12
nucho 3:1cf99502f396 13 class MultiArrayLayout : public ros::Msg
nucho 3:1cf99502f396 14 {
nucho 3:1cf99502f396 15 public:
nucho 3:1cf99502f396 16 uint8_t dim_length;
nucho 3:1cf99502f396 17 std_msgs::MultiArrayDimension st_dim;
nucho 3:1cf99502f396 18 std_msgs::MultiArrayDimension * dim;
nucho 3:1cf99502f396 19 uint32_t data_offset;
nucho 3:1cf99502f396 20
nucho 3:1cf99502f396 21 virtual int serialize(unsigned char *outbuffer) const
nucho 3:1cf99502f396 22 {
nucho 3:1cf99502f396 23 int offset = 0;
nucho 3:1cf99502f396 24 *(outbuffer + offset++) = dim_length;
nucho 3:1cf99502f396 25 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 26 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 27 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 28 for( uint8_t i = 0; i < dim_length; i++){
nucho 3:1cf99502f396 29 offset += this->dim[i].serialize(outbuffer + offset);
nucho 3:1cf99502f396 30 }
nucho 3:1cf99502f396 31 *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
nucho 3:1cf99502f396 32 *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
nucho 3:1cf99502f396 33 *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
nucho 3:1cf99502f396 34 *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
nucho 3:1cf99502f396 35 offset += sizeof(this->data_offset);
nucho 3:1cf99502f396 36 return offset;
nucho 3:1cf99502f396 37 }
nucho 3:1cf99502f396 38
nucho 3:1cf99502f396 39 virtual int deserialize(unsigned char *inbuffer)
nucho 3:1cf99502f396 40 {
nucho 3:1cf99502f396 41 int offset = 0;
nucho 3:1cf99502f396 42 uint8_t dim_lengthT = *(inbuffer + offset++);
nucho 3:1cf99502f396 43 if(dim_lengthT > dim_length)
nucho 3:1cf99502f396 44 this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
nucho 3:1cf99502f396 45 offset += 3;
nucho 3:1cf99502f396 46 dim_length = dim_lengthT;
nucho 3:1cf99502f396 47 for( uint8_t i = 0; i < dim_length; i++){
nucho 3:1cf99502f396 48 offset += this->st_dim.deserialize(inbuffer + offset);
nucho 3:1cf99502f396 49 memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
nucho 3:1cf99502f396 50 }
nucho 3:1cf99502f396 51 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 52 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 53 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:1cf99502f396 54 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 3:1cf99502f396 55 offset += sizeof(this->data_offset);
nucho 3:1cf99502f396 56 return offset;
nucho 3:1cf99502f396 57 }
nucho 3:1cf99502f396 58
nucho 3:1cf99502f396 59 virtual const char * getType(){ return "std_msgs/MultiArrayLayout"; };
nucho 3:1cf99502f396 60 virtual const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
nucho 3:1cf99502f396 61
nucho 3:1cf99502f396 62 };
nucho 3:1cf99502f396 63
nucho 3:1cf99502f396 64 }
nucho 0:77afd7560544 65 #endif