rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544
Child:
1:ff0ec969dad1

        

Who changed what in which revision?

UserRevisionLine numberNew 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