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Diff: std_msgs/Float32MultiArray.h
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
--- a/std_msgs/Float32MultiArray.h Fri Aug 19 09:06:30 2011 +0000 +++ b/std_msgs/Float32MultiArray.h Sun Oct 16 07:19:36 2011 +0000 @@ -7,69 +7,67 @@ #include "../ros/msg.h" #include "std_msgs/MultiArrayLayout.h" -namespace std_msgs -{ +namespace std_msgs { - class Float32MultiArray : public ros::Msg - { - public: - std_msgs::MultiArrayLayout layout; - unsigned char data_length; - float st_data; - float * data; +class Float32MultiArray : public ros::Msg { +public: + std_msgs::MultiArrayLayout layout; + unsigned char data_length; + float st_data; + float * data; - virtual int serialize(unsigned char *outbuffer) - { - int offset = 0; - offset += this->layout.serialize(outbuffer + offset); - *(outbuffer + offset++) = data_length; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < data_length; i++){ - union { - float real; - unsigned long base; - } u_datai; - u_datai.real = this->data[i]; - *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; - offset += sizeof(this->data[i]); - } - return offset; + virtual int serialize(unsigned char *outbuffer) { + int offset = 0; + offset += this->layout.serialize(outbuffer + offset); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for ( unsigned char i = 0; i < data_length; i++) { + union { + float real; + uint32_t base; + } u_datai; + u_datai.real = this->data[i]; + *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->data[i]); + } + return offset; } - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - offset += this->layout.deserialize(inbuffer + offset); - unsigned char data_lengthT = *(inbuffer + offset++); - if(data_lengthT > data_length) - this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); - offset += 3; - data_length = data_lengthT; - for( unsigned char i = 0; i < data_length; i++){ - union { - float real; - unsigned long base; - } u_st_data; - u_st_data.base = 0; - u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->st_data = u_st_data.real; - offset += sizeof(this->st_data); - memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); - } - return offset; + virtual int deserialize(unsigned char *inbuffer) { + int offset = 0; + offset += this->layout.deserialize(inbuffer + offset); + unsigned char data_lengthT = *(inbuffer + offset++); + if (data_lengthT > data_length) + this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); + offset += 3; + data_length = data_lengthT; + for ( unsigned char i = 0; i < data_length; i++) { + union { + float real; + uint32_t base; + } u_st_data; + u_st_data.base = 0; + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->st_data = u_st_data.real; + offset += sizeof(this->st_data); + memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); + } + return offset; } - virtual const char * getType(){ return "std_msgs/Float32MultiArray"; }; + virtual const char * getType() { + return "std_msgs/Float32MultiArray"; + }; - }; +}; } #endif \ No newline at end of file