rosserial for Hydro
Fork of rosserial_mbed_lib by
std_msgs/MultiArrayDimension.h@6:e5254bf7e322, 2014-05-08 (annotated)
- Committer:
- isad
- Date:
- Thu May 08 06:34:37 2014 +0000
- Revision:
- 6:e5254bf7e322
- Parent:
- 5:c30c76e8c3f1
0.1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_std_msgs_MultiArrayDimension_h |
nucho | 3:1cf99502f396 | 2 | #define _ROS_std_msgs_MultiArrayDimension_h |
nucho | 3:1cf99502f396 | 3 | |
nucho | 3:1cf99502f396 | 4 | #include <stdint.h> |
nucho | 3:1cf99502f396 | 5 | #include <string.h> |
nucho | 3:1cf99502f396 | 6 | #include <stdlib.h> |
nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
nucho | 3:1cf99502f396 | 8 | |
nucho | 3:1cf99502f396 | 9 | namespace std_msgs |
nucho | 3:1cf99502f396 | 10 | { |
nucho | 3:1cf99502f396 | 11 | |
nucho | 3:1cf99502f396 | 12 | class MultiArrayDimension : public ros::Msg |
nucho | 3:1cf99502f396 | 13 | { |
nucho | 3:1cf99502f396 | 14 | public: |
nucho | 3:1cf99502f396 | 15 | char * label; |
nucho | 3:1cf99502f396 | 16 | uint32_t size; |
nucho | 3:1cf99502f396 | 17 | uint32_t stride; |
nucho | 3:1cf99502f396 | 18 | |
nucho | 3:1cf99502f396 | 19 | virtual int serialize(unsigned char *outbuffer) const |
nucho | 3:1cf99502f396 | 20 | { |
nucho | 3:1cf99502f396 | 21 | int offset = 0; |
isad | 5:c30c76e8c3f1 | 22 | uint32_t length_label = strlen( (const char*) this->label); |
isad | 5:c30c76e8c3f1 | 23 | memcpy(outbuffer + offset, &length_label, sizeof(uint32_t)); |
nucho | 3:1cf99502f396 | 24 | offset += 4; |
isad | 5:c30c76e8c3f1 | 25 | memcpy(outbuffer + offset, this->label, length_label); |
isad | 5:c30c76e8c3f1 | 26 | offset += length_label; |
nucho | 3:1cf99502f396 | 27 | *(outbuffer + offset + 0) = (this->size >> (8 * 0)) & 0xFF; |
nucho | 3:1cf99502f396 | 28 | *(outbuffer + offset + 1) = (this->size >> (8 * 1)) & 0xFF; |
nucho | 3:1cf99502f396 | 29 | *(outbuffer + offset + 2) = (this->size >> (8 * 2)) & 0xFF; |
nucho | 3:1cf99502f396 | 30 | *(outbuffer + offset + 3) = (this->size >> (8 * 3)) & 0xFF; |
nucho | 3:1cf99502f396 | 31 | offset += sizeof(this->size); |
nucho | 3:1cf99502f396 | 32 | *(outbuffer + offset + 0) = (this->stride >> (8 * 0)) & 0xFF; |
nucho | 3:1cf99502f396 | 33 | *(outbuffer + offset + 1) = (this->stride >> (8 * 1)) & 0xFF; |
nucho | 3:1cf99502f396 | 34 | *(outbuffer + offset + 2) = (this->stride >> (8 * 2)) & 0xFF; |
nucho | 3:1cf99502f396 | 35 | *(outbuffer + offset + 3) = (this->stride >> (8 * 3)) & 0xFF; |
nucho | 3:1cf99502f396 | 36 | offset += sizeof(this->stride); |
nucho | 3:1cf99502f396 | 37 | return offset; |
nucho | 3:1cf99502f396 | 38 | } |
nucho | 3:1cf99502f396 | 39 | |
nucho | 3:1cf99502f396 | 40 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 3:1cf99502f396 | 41 | { |
nucho | 3:1cf99502f396 | 42 | int offset = 0; |
isad | 5:c30c76e8c3f1 | 43 | uint32_t length_label; |
isad | 5:c30c76e8c3f1 | 44 | memcpy(&length_label, (inbuffer + offset), sizeof(uint32_t)); |
nucho | 3:1cf99502f396 | 45 | offset += 4; |
nucho | 3:1cf99502f396 | 46 | for(unsigned int k= offset; k< offset+length_label; ++k){ |
nucho | 3:1cf99502f396 | 47 | inbuffer[k-1]=inbuffer[k]; |
nucho | 3:1cf99502f396 | 48 | } |
nucho | 3:1cf99502f396 | 49 | inbuffer[offset+length_label-1]=0; |
nucho | 3:1cf99502f396 | 50 | this->label = (char *)(inbuffer + offset-1); |
nucho | 3:1cf99502f396 | 51 | offset += length_label; |
isad | 5:c30c76e8c3f1 | 52 | this->size = ((uint32_t) (*(inbuffer + offset))); |
nucho | 3:1cf99502f396 | 53 | this->size |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:1cf99502f396 | 54 | this->size |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 3:1cf99502f396 | 55 | this->size |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 3:1cf99502f396 | 56 | offset += sizeof(this->size); |
isad | 5:c30c76e8c3f1 | 57 | this->stride = ((uint32_t) (*(inbuffer + offset))); |
nucho | 3:1cf99502f396 | 58 | this->stride |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:1cf99502f396 | 59 | this->stride |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 3:1cf99502f396 | 60 | this->stride |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 3:1cf99502f396 | 61 | offset += sizeof(this->stride); |
nucho | 3:1cf99502f396 | 62 | return offset; |
nucho | 3:1cf99502f396 | 63 | } |
nucho | 3:1cf99502f396 | 64 | |
isad | 5:c30c76e8c3f1 | 65 | const char * getType(){ return "std_msgs/MultiArrayDimension"; }; |
isad | 5:c30c76e8c3f1 | 66 | const char * getMD5(){ return "4cd0c83a8683deae40ecdac60e53bfa8"; }; |
nucho | 3:1cf99502f396 | 67 | |
nucho | 3:1cf99502f396 | 68 | }; |
nucho | 3:1cf99502f396 | 69 | |
nucho | 3:1cf99502f396 | 70 | } |
nucho | 0:77afd7560544 | 71 | #endif |