liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Float32MultiArray.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?

UserRevisionLine numberNew contents of line
isad 6:e5254bf7e322 1 #ifndef _ROS_std_msgs_Float32MultiArray_h
isad 6:e5254bf7e322 2 #define _ROS_std_msgs_Float32MultiArray_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 Float32MultiArray : 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 float st_data;
isad 6:e5254bf7e322 19 float * 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 float real;
isad 6:e5254bf7e322 32 uint32_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 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
isad 6:e5254bf7e322 37 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
isad 6:e5254bf7e322 38 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
isad 6:e5254bf7e322 39 offset += sizeof(this->data[i]);
isad 6:e5254bf7e322 40 }
isad 6:e5254bf7e322 41 return offset;
isad 6:e5254bf7e322 42 }
isad 6:e5254bf7e322 43
isad 6:e5254bf7e322 44 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 45 {
isad 6:e5254bf7e322 46 int offset = 0;
isad 6:e5254bf7e322 47 offset += this->layout.deserialize(inbuffer + offset);
isad 6:e5254bf7e322 48 uint8_t data_lengthT = *(inbuffer + offset++);
isad 6:e5254bf7e322 49 if(data_lengthT > data_length)
isad 6:e5254bf7e322 50 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
isad 6:e5254bf7e322 51 offset += 3;
isad 6:e5254bf7e322 52 data_length = data_lengthT;
isad 6:e5254bf7e322 53 for( uint8_t i = 0; i < data_length; i++){
isad 6:e5254bf7e322 54 union {
isad 6:e5254bf7e322 55 float real;
isad 6:e5254bf7e322 56 uint32_t base;
isad 6:e5254bf7e322 57 } u_st_data;
isad 6:e5254bf7e322 58 u_st_data.base = 0;
isad 6:e5254bf7e322 59 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
isad 6:e5254bf7e322 60 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 61 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 62 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 63 this->st_data = u_st_data.real;
isad 6:e5254bf7e322 64 offset += sizeof(this->st_data);
isad 6:e5254bf7e322 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
isad 6:e5254bf7e322 66 }
isad 6:e5254bf7e322 67 return offset;
isad 6:e5254bf7e322 68 }
isad 6:e5254bf7e322 69
isad 6:e5254bf7e322 70 const char * getType(){ return "std_msgs/Float32MultiArray"; };
isad 6:e5254bf7e322 71 const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
isad 6:e5254bf7e322 72
isad 6:e5254bf7e322 73 };
isad 6:e5254bf7e322 74
isad 6:e5254bf7e322 75 }
isad 6:e5254bf7e322 76 #endif