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Diff: sensor_msgs/PointField.h
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
diff -r 000000000000 -r 77afd7560544 sensor_msgs/PointField.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/PointField.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,115 @@ +#ifndef ros_PointField_h +#define ros_PointField_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" + +namespace sensor_msgs +{ + + class PointField : public ros::Msg + { + public: + char * name; + unsigned long offset; + unsigned char datatype; + unsigned long count; + enum { INT8 = 1 }; + enum { UINT8 = 2 }; + enum { INT16 = 3 }; + enum { UINT16 = 4 }; + enum { INT32 = 5 }; + enum { UINT32 = 6 }; + enum { FLOAT32 = 7 }; + enum { FLOAT64 = 8 }; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + long * length_name = (long *)(outbuffer + offset); + *length_name = strlen( (const char*) this->name); + offset += 4; + memcpy(outbuffer + offset, this->name, *length_name); + offset += *length_name; + union { + unsigned long real; + unsigned long base; + } u_offset; + u_offset.real = this->offset; + *(outbuffer + offset + 0) = (u_offset.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_offset.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_offset.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_offset.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->offset); + union { + unsigned char real; + unsigned char base; + } u_datatype; + u_datatype.real = this->datatype; + *(outbuffer + offset + 0) = (u_datatype.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->datatype); + union { + unsigned long real; + unsigned long base; + } u_count; + u_count.real = this->count; + *(outbuffer + offset + 0) = (u_count.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_count.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_count.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_count.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->count); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_name = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + union { + unsigned long real; + unsigned long base; + } u_offset; + u_offset.base = 0; + u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->offset = u_offset.real; + offset += sizeof(this->offset); + union { + unsigned char real; + unsigned char base; + } u_datatype; + u_datatype.base = 0; + u_datatype.base |= ((typeof(u_datatype.base)) (*(inbuffer + offset + 0))) << (8 * 0); + this->datatype = u_datatype.real; + offset += sizeof(this->datatype); + union { + unsigned long real; + unsigned long base; + } u_count; + u_count.base = 0; + u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->count = u_count.real; + offset += sizeof(this->count); + return offset; + } + + virtual const char * getType(){ return "sensor_msgs/PointField"; }; + + }; + +} +#endif \ No newline at end of file