Irfan Tito Kurniawan
/
ros_lib
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DebugValue.h
00001 #ifndef _ROS_mavros_msgs_DebugValue_h 00002 #define _ROS_mavros_msgs_DebugValue_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 00010 namespace mavros_msgs 00011 { 00012 00013 class DebugValue : public ros::Msg 00014 { 00015 public: 00016 typedef std_msgs::Header _header_type; 00017 _header_type header; 00018 typedef int32_t _index_type; 00019 _index_type index; 00020 typedef const char* _name_type; 00021 _name_type name; 00022 typedef float _value_float_type; 00023 _value_float_type value_float; 00024 typedef int32_t _value_int_type; 00025 _value_int_type value_int; 00026 uint32_t data_length; 00027 typedef float _data_type; 00028 _data_type st_data; 00029 _data_type * data; 00030 typedef uint8_t _type_type; 00031 _type_type type; 00032 enum { TYPE_DEBUG = 0 }; 00033 enum { TYPE_DEBUG_VECT = 1 }; 00034 enum { TYPE_DEBUG_ARRAY = 2 }; 00035 enum { TYPE_NAMED_VALUE_FLOAT = 3 }; 00036 enum { TYPE_NAMED_VALUE_INT = 4 }; 00037 00038 DebugValue(): 00039 header(), 00040 index(0), 00041 name(""), 00042 value_float(0), 00043 value_int(0), 00044 data_length(0), data(NULL), 00045 type(0) 00046 { 00047 } 00048 00049 virtual int serialize(unsigned char *outbuffer) const 00050 { 00051 int offset = 0; 00052 offset += this->header.serialize(outbuffer + offset); 00053 union { 00054 int32_t real; 00055 uint32_t base; 00056 } u_index; 00057 u_index.real = this->index; 00058 *(outbuffer + offset + 0) = (u_index.base >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (u_index.base >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (u_index.base >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (u_index.base >> (8 * 3)) & 0xFF; 00062 offset += sizeof(this->index); 00063 uint32_t length_name = strlen(this->name); 00064 varToArr(outbuffer + offset, length_name); 00065 offset += 4; 00066 memcpy(outbuffer + offset, this->name, length_name); 00067 offset += length_name; 00068 union { 00069 float real; 00070 uint32_t base; 00071 } u_value_float; 00072 u_value_float.real = this->value_float; 00073 *(outbuffer + offset + 0) = (u_value_float.base >> (8 * 0)) & 0xFF; 00074 *(outbuffer + offset + 1) = (u_value_float.base >> (8 * 1)) & 0xFF; 00075 *(outbuffer + offset + 2) = (u_value_float.base >> (8 * 2)) & 0xFF; 00076 *(outbuffer + offset + 3) = (u_value_float.base >> (8 * 3)) & 0xFF; 00077 offset += sizeof(this->value_float); 00078 union { 00079 int32_t real; 00080 uint32_t base; 00081 } u_value_int; 00082 u_value_int.real = this->value_int; 00083 *(outbuffer + offset + 0) = (u_value_int.base >> (8 * 0)) & 0xFF; 00084 *(outbuffer + offset + 1) = (u_value_int.base >> (8 * 1)) & 0xFF; 00085 *(outbuffer + offset + 2) = (u_value_int.base >> (8 * 2)) & 0xFF; 00086 *(outbuffer + offset + 3) = (u_value_int.base >> (8 * 3)) & 0xFF; 00087 offset += sizeof(this->value_int); 00088 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; 00089 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; 00090 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; 00091 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; 00092 offset += sizeof(this->data_length); 00093 for( uint32_t i = 0; i < data_length; i++){ 00094 union { 00095 float real; 00096 uint32_t base; 00097 } u_datai; 00098 u_datai.real = this->data[i]; 00099 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; 00100 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; 00101 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; 00102 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; 00103 offset += sizeof(this->data[i]); 00104 } 00105 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; 00106 offset += sizeof(this->type); 00107 return offset; 00108 } 00109 00110 virtual int deserialize(unsigned char *inbuffer) 00111 { 00112 int offset = 0; 00113 offset += this->header.deserialize(inbuffer + offset); 00114 union { 00115 int32_t real; 00116 uint32_t base; 00117 } u_index; 00118 u_index.base = 0; 00119 u_index.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00120 u_index.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00121 u_index.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00122 u_index.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00123 this->index = u_index.real; 00124 offset += sizeof(this->index); 00125 uint32_t length_name; 00126 arrToVar(length_name, (inbuffer + offset)); 00127 offset += 4; 00128 for(unsigned int k= offset; k< offset+length_name; ++k){ 00129 inbuffer[k-1]=inbuffer[k]; 00130 } 00131 inbuffer[offset+length_name-1]=0; 00132 this->name = (char *)(inbuffer + offset-1); 00133 offset += length_name; 00134 union { 00135 float real; 00136 uint32_t base; 00137 } u_value_float; 00138 u_value_float.base = 0; 00139 u_value_float.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00140 u_value_float.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00141 u_value_float.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00142 u_value_float.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00143 this->value_float = u_value_float.real; 00144 offset += sizeof(this->value_float); 00145 union { 00146 int32_t real; 00147 uint32_t base; 00148 } u_value_int; 00149 u_value_int.base = 0; 00150 u_value_int.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00151 u_value_int.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00152 u_value_int.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00153 u_value_int.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00154 this->value_int = u_value_int.real; 00155 offset += sizeof(this->value_int); 00156 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 00157 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00158 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00159 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00160 offset += sizeof(this->data_length); 00161 if(data_lengthT > data_length) 00162 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); 00163 data_length = data_lengthT; 00164 for( uint32_t i = 0; i < data_length; i++){ 00165 union { 00166 float real; 00167 uint32_t base; 00168 } u_st_data; 00169 u_st_data.base = 0; 00170 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00171 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00172 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00173 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00174 this->st_data = u_st_data.real; 00175 offset += sizeof(this->st_data); 00176 memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); 00177 } 00178 this->type = ((uint8_t) (*(inbuffer + offset))); 00179 offset += sizeof(this->type); 00180 return offset; 00181 } 00182 00183 const char * getType(){ return "mavros_msgs/DebugValue"; }; 00184 const char * getMD5(){ return "af412ff7223c64155e7e3c6b7508eaaa"; }; 00185 00186 }; 00187 00188 } 00189 #endif
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