liu isad
rosserial for Hydro
Fork of
rosserial_mbed_lib
by 
nucho
std_msgs/ByteMultiArray.h@6:e5254bf7e322, 2014-05-08 (annotated)
- Committer:
- isad
- Date:
- Thu May 08 06:34:37 2014 +0000
- Revision:
- 6:e5254bf7e322
0.1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| isad | 6:e5254bf7e322 | 1 | #ifndef _ROS_std_msgs_ByteMultiArray_h |
| isad | 6:e5254bf7e322 | 2 | #define _ROS_std_msgs_ByteMultiArray_h |
| isad | 6:e5254bf7e322 | 3 | |
| isad | 6:e5254bf7e322 | 4 | #include <stdint.h> |
| isad | 6:e5254bf7e322 | 5 | #include <string.h> |
| isad | 6:e5254bf7e322 | 6 | #include <stdlib.h> |
| isad | 6:e5254bf7e322 | 7 | #include "ros/msg.h" |
| isad | 6:e5254bf7e322 | 8 | #include "std_msgs/MultiArrayLayout.h" |
| isad | 6:e5254bf7e322 | 9 | |
| isad | 6:e5254bf7e322 | 10 | namespace std_msgs |
| isad | 6:e5254bf7e322 | 11 | { |
| isad | 6:e5254bf7e322 | 12 | |
| isad | 6:e5254bf7e322 | 13 | class ByteMultiArray : public ros::Msg |
| isad | 6:e5254bf7e322 | 14 | { |
| isad | 6:e5254bf7e322 | 15 | public: |
| isad | 6:e5254bf7e322 | 16 | std_msgs::MultiArrayLayout layout; |
| isad | 6:e5254bf7e322 | 17 | uint8_t data_length; |
| isad | 6:e5254bf7e322 | 18 | int8_t st_data; |
| isad | 6:e5254bf7e322 | 19 | int8_t * data; |
| isad | 6:e5254bf7e322 | 20 | |
| isad | 6:e5254bf7e322 | 21 | virtual int serialize(unsigned char *outbuffer) const |
| isad | 6:e5254bf7e322 | 22 | { |
| isad | 6:e5254bf7e322 | 23 | int offset = 0; |
| isad | 6:e5254bf7e322 | 24 | offset += this->layout.serialize(outbuffer + offset); |
| isad | 6:e5254bf7e322 | 25 | *(outbuffer + offset++) = data_length; |
| isad | 6:e5254bf7e322 | 26 | *(outbuffer + offset++) = 0; |
| isad | 6:e5254bf7e322 | 27 | *(outbuffer + offset++) = 0; |
| isad | 6:e5254bf7e322 | 28 | *(outbuffer + offset++) = 0; |
| isad | 6:e5254bf7e322 | 29 | for( uint8_t i = 0; i < data_length; i++){ |
| isad | 6:e5254bf7e322 | 30 | union { |
| isad | 6:e5254bf7e322 | 31 | int8_t real; |
| isad | 6:e5254bf7e322 | 32 | uint8_t base; |
| isad | 6:e5254bf7e322 | 33 | } u_datai; |
| isad | 6:e5254bf7e322 | 34 | u_datai.real = this->data[i]; |
| isad | 6:e5254bf7e322 | 35 | *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; |
| isad | 6:e5254bf7e322 | 36 | offset += sizeof(this->data[i]); |
| isad | 6:e5254bf7e322 | 37 | } |
| isad | 6:e5254bf7e322 | 38 | return offset; |
| isad | 6:e5254bf7e322 | 39 | } |
| isad | 6:e5254bf7e322 | 40 | |
| isad | 6:e5254bf7e322 | 41 | virtual int deserialize(unsigned char *inbuffer) |
| isad | 6:e5254bf7e322 | 42 | { |
| isad | 6:e5254bf7e322 | 43 | int offset = 0; |
| isad | 6:e5254bf7e322 | 44 | offset += this->layout.deserialize(inbuffer + offset); |
| isad | 6:e5254bf7e322 | 45 | uint8_t data_lengthT = *(inbuffer + offset++); |
| isad | 6:e5254bf7e322 | 46 | if(data_lengthT > data_length) |
| isad | 6:e5254bf7e322 | 47 | this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t)); |
| isad | 6:e5254bf7e322 | 48 | offset += 3; |
| isad | 6:e5254bf7e322 | 49 | data_length = data_lengthT; |
| isad | 6:e5254bf7e322 | 50 | for( uint8_t i = 0; i < data_length; i++){ |
| isad | 6:e5254bf7e322 | 51 | union { |
| isad | 6:e5254bf7e322 | 52 | int8_t real; |
| isad | 6:e5254bf7e322 | 53 | uint8_t base; |
| isad | 6:e5254bf7e322 | 54 | } u_st_data; |
| isad | 6:e5254bf7e322 | 55 | u_st_data.base = 0; |
| isad | 6:e5254bf7e322 | 56 | u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| isad | 6:e5254bf7e322 | 57 | this->st_data = u_st_data.real; |
| isad | 6:e5254bf7e322 | 58 | offset += sizeof(this->st_data); |
| isad | 6:e5254bf7e322 | 59 | memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t)); |
| isad | 6:e5254bf7e322 | 60 | } |
| isad | 6:e5254bf7e322 | 61 | return offset; |
| isad | 6:e5254bf7e322 | 62 | } |
| isad | 6:e5254bf7e322 | 63 | |
| isad | 6:e5254bf7e322 | 64 | const char * getType(){ return "std_msgs/ByteMultiArray"; }; |
| isad | 6:e5254bf7e322 | 65 | const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; }; |
| isad | 6:e5254bf7e322 | 66 | |
| isad | 6:e5254bf7e322 | 67 | }; |
| isad | 6:e5254bf7e322 | 68 | |
| isad | 6:e5254bf7e322 | 69 | } |
| isad | 6:e5254bf7e322 | 70 | #endif |