rosserial for Hydro
Fork of rosserial_mbed_lib by
std_msgs/UInt64MultiArray.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 1:ff0ec969dad1:
#ifndef ros_UInt64MultiArray_h #define ros_UInt64MultiArray_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "std_msgs/MultiArrayLayout.h" namespace std_msgs { class UInt64MultiArray : public ros::Msg { public: std_msgs::MultiArrayLayout layout; unsigned char data_length; uint64_t st_data; uint64_t * 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 { uint64_t real; uint64_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; *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 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 = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t)); offset += 3; data_length = data_lengthT; for ( unsigned char i = 0; i < data_length; i++) { union { uint64_t real; uint64_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); u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4); u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5); u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6); u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t)); } return offset; } /* public: std_msgs::MultiArrayLayout layout; unsigned char data_length; long st_data; long * 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++){ *(outbuffer + offset++) = (data[i] >> (8 * 0)) & 0xFF; *(outbuffer + offset++) = (data[i] >> (8 * 1)) & 0xFF; *(outbuffer + offset++) = (data[i] >> (8 * 2)) & 0xFF; *(outbuffer + offset++) = (data[i] >> (8 * 3)) & 0xFF; *(outbuffer + offset++) = (data[i] > 0) ? 0: 255; *(outbuffer + offset++) = (data[i] > 0) ? 0: 255; *(outbuffer + offset++) = (data[i] > 0) ? 0: 255; *(outbuffer + offset++) = (data[i] > 0) ? 0: 255; } 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 = (long*)realloc(this->data, data_lengthT * sizeof(long)); offset += 3; data_length = data_lengthT; for( unsigned char i = 0; i < data_length; i++){ st_data = 0; st_data += ((long)(*(inbuffer + offset++))) >> (8 * 0); st_data += ((long)(*(inbuffer + offset++))) >> (8 * 1); st_data += ((long)(*(inbuffer + offset++))) >> (8 * 2); st_data += ((long)(*(inbuffer + offset++))) >> (8 * 3); offset += 4; memcpy( &(this->data[i]), &(this->st_data), sizeof(long)); } return offset; } */ virtual const char * getType() { return "std_msgs/UInt64MultiArray"; }; }; } #endif