John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

std_msgs/ByteMultiArray.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_std_msgs_ByteMultiArray_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_std_msgs_ByteMultiArray_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/MultiArrayLayout.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace std_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class ByteMultiArray : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::MultiArrayLayout _layout_type;
Gary Servin 0:04ac6be8229a 17 _layout_type layout;
Gary Servin 0:04ac6be8229a 18 uint32_t data_length;
Gary Servin 0:04ac6be8229a 19 typedef int8_t _data_type;
Gary Servin 0:04ac6be8229a 20 _data_type st_data;
Gary Servin 0:04ac6be8229a 21 _data_type * data;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 ByteMultiArray():
Gary Servin 0:04ac6be8229a 24 layout(),
Gary Servin 0:04ac6be8229a 25 data_length(0), data(NULL)
Gary Servin 0:04ac6be8229a 26 {
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 int offset = 0;
Gary Servin 0:04ac6be8229a 32 offset += this->layout.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 38 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 39 union {
Gary Servin 0:04ac6be8229a 40 int8_t real;
Gary Servin 0:04ac6be8229a 41 uint8_t base;
Gary Servin 0:04ac6be8229a 42 } u_datai;
Gary Servin 0:04ac6be8229a 43 u_datai.real = this->data[i];
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 46 }
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 51 {
Gary Servin 0:04ac6be8229a 52 int offset = 0;
Gary Servin 0:04ac6be8229a 53 offset += this->layout.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 54 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 55 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 56 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 57 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 58 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 59 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 60 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
Gary Servin 0:04ac6be8229a 61 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 62 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 63 union {
Gary Servin 0:04ac6be8229a 64 int8_t real;
Gary Servin 0:04ac6be8229a 65 uint8_t base;
Gary Servin 0:04ac6be8229a 66 } u_st_data;
Gary Servin 0:04ac6be8229a 67 u_st_data.base = 0;
Gary Servin 0:04ac6be8229a 68 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 69 this->st_data = u_st_data.real;
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 71 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 return offset;
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 const char * getType(){ return "std_msgs/ByteMultiArray"; };
Gary Servin 0:04ac6be8229a 77 const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
Gary Servin 0:04ac6be8229a 78
Gary Servin 0:04ac6be8229a 79 };
Gary Servin 0:04ac6be8229a 80
Gary Servin 0:04ac6be8229a 81 }
Gary Servin 0:04ac6be8229a 82 #endif