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Diff: std_msgs/UInt64MultiArray.h
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
diff -r 77afd7560544 -r ff0ec969dad1 std_msgs/UInt64MultiArray.h --- a/std_msgs/UInt64MultiArray.h Fri Aug 19 09:06:30 2011 +0000 +++ b/std_msgs/UInt64MultiArray.h Sun Oct 16 07:19:36 2011 +0000 @@ -7,62 +7,123 @@ #include "../ros/msg.h" #include "std_msgs/MultiArrayLayout.h" -namespace std_msgs -{ +namespace std_msgs { - class UInt64MultiArray : public ros::Msg - { - public: - std_msgs::MultiArrayLayout layout; - unsigned char data_length; - long st_data; - long * data; +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++){ - *(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 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 = (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)); + 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; } - return offset; - } - virtual const char * getType(){ return "std_msgs/UInt64MultiArray"; }; + 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 \ No newline at end of file