liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Float64MultiArray.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_Float64MultiArray_h
isad 6:e5254bf7e322 2 #define _ROS_std_msgs_Float64MultiArray_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 Float64MultiArray : 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 int32_t * val_datai = (int32_t *) &(this->data[i]);
isad 6:e5254bf7e322 31 int32_t exp_datai = (((*val_datai)>>23)&255);
isad 6:e5254bf7e322 32 if(exp_datai != 0)
isad 6:e5254bf7e322 33 exp_datai += 1023-127;
isad 6:e5254bf7e322 34 int32_t sig_datai = *val_datai;
isad 6:e5254bf7e322 35 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 36 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 37 *(outbuffer + offset++) = 0;
isad 6:e5254bf7e322 38 *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
isad 6:e5254bf7e322 39 *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
isad 6:e5254bf7e322 40 *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
isad 6:e5254bf7e322 41 *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
isad 6:e5254bf7e322 42 *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
isad 6:e5254bf7e322 43 if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
isad 6:e5254bf7e322 44 }
isad 6:e5254bf7e322 45 return offset;
isad 6:e5254bf7e322 46 }
isad 6:e5254bf7e322 47
isad 6:e5254bf7e322 48 virtual int deserialize(unsigned char *inbuffer)
isad 6:e5254bf7e322 49 {
isad 6:e5254bf7e322 50 int offset = 0;
isad 6:e5254bf7e322 51 offset += this->layout.deserialize(inbuffer + offset);
isad 6:e5254bf7e322 52 uint8_t data_lengthT = *(inbuffer + offset++);
isad 6:e5254bf7e322 53 if(data_lengthT > data_length)
isad 6:e5254bf7e322 54 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
isad 6:e5254bf7e322 55 offset += 3;
isad 6:e5254bf7e322 56 data_length = data_lengthT;
isad 6:e5254bf7e322 57 for( uint8_t i = 0; i < data_length; i++){
isad 6:e5254bf7e322 58 uint32_t * val_st_data = (uint32_t*) &(this->st_data);
isad 6:e5254bf7e322 59 offset += 3;
isad 6:e5254bf7e322 60 *val_st_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
isad 6:e5254bf7e322 61 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
isad 6:e5254bf7e322 62 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
isad 6:e5254bf7e322 63 *val_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
isad 6:e5254bf7e322 64 uint32_t exp_st_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
isad 6:e5254bf7e322 65 exp_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
isad 6:e5254bf7e322 66 if(exp_st_data !=0)
isad 6:e5254bf7e322 67 *val_st_data |= ((exp_st_data)-1023+127)<<23;
isad 6:e5254bf7e322 68 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
isad 6:e5254bf7e322 69 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
isad 6:e5254bf7e322 70 }
isad 6:e5254bf7e322 71 return offset;
isad 6:e5254bf7e322 72 }
isad 6:e5254bf7e322 73
isad 6:e5254bf7e322 74 const char * getType(){ return "std_msgs/Float64MultiArray"; };
isad 6:e5254bf7e322 75 const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
isad 6:e5254bf7e322 76
isad 6:e5254bf7e322 77 };
isad 6:e5254bf7e322 78
isad 6:e5254bf7e322 79 }
isad 6:e5254bf7e322 80 #endif