rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

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_Float64_h
isad 6:e5254bf7e322 2 #define _ROS_std_msgs_Float64_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
isad 6:e5254bf7e322 9 namespace std_msgs
isad 6:e5254bf7e322 10 {
isad 6:e5254bf7e322 11
isad 6:e5254bf7e322 12 class Float64 : public ros::Msg
isad 6:e5254bf7e322 13 {
isad 6:e5254bf7e322 14 public:
isad 6:e5254bf7e322 15 float data;
isad 6:e5254bf7e322 16
isad 6:e5254bf7e322 17 virtual int serialize(unsigned char *outbuffer) const
isad 6:e5254bf7e322 18 {
isad 6:e5254bf7e322 19 int offset = 0;
isad 6:e5254bf7e322 20 int32_t * val_data = (int32_t *) &(this->data);
isad 6:e5254bf7e322 21 int32_t exp_data = (((*val_data)>>23)&255);
isad 6:e5254bf7e322 22 if(exp_data != 0)
isad 6:e5254bf7e322 23 exp_data += 1023-127;
isad 6:e5254bf7e322 24 int32_t sig_data = *val_data;
isad 6:e5254bf7e322 25 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 26 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 27 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 28 *(outbuffer + offset++) = (sig_data<<5) & 0xff;
isad 6:e5254bf7e322 29 *(outbuffer + offset++) = (sig_data>>3) & 0xff;
isad 6:e5254bf7e322 30 *(outbuffer + offset++) = (sig_data>>11) & 0xff;
isad 6:e5254bf7e322 31 *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F);
isad 6:e5254bf7e322 32 *(outbuffer + offset++) = (exp_data>>4) & 0x7F;
isad 6:e5254bf7e322 33 if(this->data < 0) *(outbuffer + offset -1) |= 0x80;
isad 6:e5254bf7e322 34 return offset;
isad 6:e5254bf7e322 35 }
isad 6:e5254bf7e322 36
isad 6:e5254bf7e322 37 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 38 {
isad 6:e5254bf7e322 39 int offset = 0;
isad 6:e5254bf7e322 40 uint32_t * val_data = (uint32_t*) &(this->data);
isad 6:e5254bf7e322 41 offset += 3;
isad 6:e5254bf7e322 42 *val_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
isad 6:e5254bf7e322 43 *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
isad 6:e5254bf7e322 44 *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
isad 6:e5254bf7e322 45 *val_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
isad 6:e5254bf7e322 46 uint32_t exp_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
isad 6:e5254bf7e322 47 exp_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
isad 6:e5254bf7e322 48 if(exp_data !=0)
isad 6:e5254bf7e322 49 *val_data |= ((exp_data)-1023+127)<<23;
isad 6:e5254bf7e322 50 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data;
isad 6:e5254bf7e322 51 return offset;
isad 6:e5254bf7e322 52 }
isad 6:e5254bf7e322 53
isad 6:e5254bf7e322 54 const char * getType(){ return "std_msgs/Float64"; };
isad 6:e5254bf7e322 55 const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; };
isad 6:e5254bf7e322 56
isad 6:e5254bf7e322 57 };
isad 6:e5254bf7e322 58
isad 6:e5254bf7e322 59 }
isad 6:e5254bf7e322 60 #endif