liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Int64MultiArray.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_Int64MultiArray_h
isad 6:e5254bf7e322 2 #define _ROS_std_msgs_Int64MultiArray_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 Int64MultiArray : 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 int64_t st_data;
isad 6:e5254bf7e322 19 int64_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 int64_t real;
isad 6:e5254bf7e322 32 uint64_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 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
isad 6:e5254bf7e322 40 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
isad 6:e5254bf7e322 41 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
isad 6:e5254bf7e322 42 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
isad 6:e5254bf7e322 43 offset += sizeof(this->data[i]);
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 = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
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 union {
isad 6:e5254bf7e322 59 int64_t real;
isad 6:e5254bf7e322 60 uint64_t base;
isad 6:e5254bf7e322 61 } u_st_data;
isad 6:e5254bf7e322 62 u_st_data.base = 0;
isad 6:e5254bf7e322 63 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
isad 6:e5254bf7e322 64 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 6:e5254bf7e322 65 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 6:e5254bf7e322 66 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 6:e5254bf7e322 67 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
isad 6:e5254bf7e322 68 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
isad 6:e5254bf7e322 69 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
isad 6:e5254bf7e322 70 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
isad 6:e5254bf7e322 71 this->st_data = u_st_data.real;
isad 6:e5254bf7e322 72 offset += sizeof(this->st_data);
isad 6:e5254bf7e322 73 memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
isad 6:e5254bf7e322 74 }
isad 6:e5254bf7e322 75 return offset;
isad 6:e5254bf7e322 76 }
isad 6:e5254bf7e322 77
isad 6:e5254bf7e322 78 const char * getType(){ return "std_msgs/Int64MultiArray"; };
isad 6:e5254bf7e322 79 const char * getMD5(){ return "54865aa6c65be0448113a2afc6a49270"; };
isad 6:e5254bf7e322 80
isad 6:e5254bf7e322 81 };
isad 6:e5254bf7e322 82
isad 6:e5254bf7e322 83 }
isad 6:e5254bf7e322 84 #endif