liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/UInt64MultiArray.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?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_std_msgs_UInt64MultiArray_h
nucho 3:1cf99502f396 2 #define _ROS_std_msgs_UInt64MultiArray_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 #include "std_msgs/MultiArrayLayout.h"
nucho 3:1cf99502f396 9
nucho 3:1cf99502f396 10 namespace std_msgs
nucho 3:1cf99502f396 11 {
nucho 3:1cf99502f396 12
nucho 3:1cf99502f396 13 class UInt64MultiArray : public ros::Msg
nucho 3:1cf99502f396 14 {
isad 5:c30c76e8c3f1 15 public:
isad 5:c30c76e8c3f1 16 std_msgs::MultiArrayLayout layout;
isad 5:c30c76e8c3f1 17 uint8_t data_length;
isad 5:c30c76e8c3f1 18 uint64_t st_data;
isad 5:c30c76e8c3f1 19 uint64_t * data;
nucho 3:1cf99502f396 20
isad 5:c30c76e8c3f1 21 virtual int serialize(unsigned char *outbuffer) const
isad 5:c30c76e8c3f1 22 {
isad 5:c30c76e8c3f1 23 int offset = 0;
isad 5:c30c76e8c3f1 24 offset += this->layout.serialize(outbuffer + offset);
isad 5:c30c76e8c3f1 25 *(outbuffer + offset++) = data_length;
isad 5:c30c76e8c3f1 26 *(outbuffer + offset++) = 0;
isad 5:c30c76e8c3f1 27 *(outbuffer + offset++) = 0;
isad 5:c30c76e8c3f1 28 *(outbuffer + offset++) = 0;
isad 5:c30c76e8c3f1 29 for( uint8_t i = 0; i < data_length; i++){
isad 5:c30c76e8c3f1 30 union {
isad 5:c30c76e8c3f1 31 uint64_t real;
isad 5:c30c76e8c3f1 32 uint32_t base;
isad 5:c30c76e8c3f1 33 } u_datai;
isad 5:c30c76e8c3f1 34 u_datai.real = this->data[i];
isad 5:c30c76e8c3f1 35 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
isad 5:c30c76e8c3f1 36 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
isad 5:c30c76e8c3f1 37 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
isad 5:c30c76e8c3f1 38 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
isad 5:c30c76e8c3f1 39 offset += sizeof(this->data[i]);
isad 5:c30c76e8c3f1 40 }
isad 5:c30c76e8c3f1 41 return offset;
nucho 3:1cf99502f396 42 }
nucho 3:1cf99502f396 43
isad 5:c30c76e8c3f1 44 virtual int deserialize(unsigned char *inbuffer)
isad 5:c30c76e8c3f1 45 {
isad 5:c30c76e8c3f1 46 int offset = 0;
isad 5:c30c76e8c3f1 47 offset += this->layout.deserialize(inbuffer + offset);
isad 5:c30c76e8c3f1 48 uint8_t data_lengthT = *(inbuffer + offset++);
isad 5:c30c76e8c3f1 49 if(data_lengthT > data_length)
isad 5:c30c76e8c3f1 50 this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
isad 5:c30c76e8c3f1 51 offset += 3;
isad 5:c30c76e8c3f1 52 data_length = data_lengthT;
isad 5:c30c76e8c3f1 53 for( uint8_t i = 0; i < data_length; i++){
isad 5:c30c76e8c3f1 54 union {
isad 5:c30c76e8c3f1 55 uint64_t real;
isad 5:c30c76e8c3f1 56 uint32_t base;
isad 5:c30c76e8c3f1 57 } u_st_data;
isad 5:c30c76e8c3f1 58 u_st_data.base = 0;
isad 5:c30c76e8c3f1 59 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
isad 5:c30c76e8c3f1 60 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
isad 5:c30c76e8c3f1 61 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
isad 5:c30c76e8c3f1 62 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
isad 5:c30c76e8c3f1 63 this->st_data = u_st_data.real;
isad 5:c30c76e8c3f1 64 offset += sizeof(this->st_data);
isad 5:c30c76e8c3f1 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
isad 5:c30c76e8c3f1 66 }
isad 5:c30c76e8c3f1 67 return offset;
nucho 3:1cf99502f396 68 }
nucho 3:1cf99502f396 69
isad 5:c30c76e8c3f1 70 const char * getType(){ return "std_msgs/UInt64MultiArray"; };
isad 5:c30c76e8c3f1 71 const char * getMD5(){ return "6088f127afb1d6c72927aa1247e945af"; };
nucho 3:1cf99502f396 72
nucho 3:1cf99502f396 73 };
nucho 3:1cf99502f396 74
nucho 3:1cf99502f396 75 }
nucho 0:77afd7560544 76 #endif