Float64MultiArray.h

00001 #ifndef _ROS_std_msgs_Float64MultiArray_h
00002 #define _ROS_std_msgs_Float64MultiArray_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009 
00010 namespace std_msgs
00011 {
00012 
00013   class Float64MultiArray : public ros::Msg
00014   {
00015     public:
00016       std_msgs::MultiArrayLayout layout;
00017       uint8_t data_length;
00018       float st_data;
00019       float * data;
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       offset += this->layout.serialize(outbuffer + offset);
00025       *(outbuffer + offset++) = data_length;
00026       *(outbuffer + offset++) = 0;
00027       *(outbuffer + offset++) = 0;
00028       *(outbuffer + offset++) = 0;
00029       for( uint8_t i = 0; i < data_length; i++){
00030       int32_t * val_datai = (int32_t *) &(this->data[i]);
00031       int32_t exp_datai = (((*val_datai)>>23)&255);
00032       if(exp_datai != 0)
00033         exp_datai += 1023-127;
00034       int32_t sig_datai = *val_datai;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
00039       *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
00040       *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
00041       *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
00042       *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
00043       if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
00044       }
00045       return offset;
00046     }
00047 
00048     virtual int deserialize(unsigned char *inbuffer)
00049     {
00050       int offset = 0;
00051       offset += this->layout.deserialize(inbuffer + offset);
00052       uint8_t data_lengthT = *(inbuffer + offset++);
00053       if(data_lengthT > data_length)
00054         this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
00055       offset += 3;
00056       data_length = data_lengthT;
00057       for( uint8_t i = 0; i < data_length; i++){
00058       uint32_t * val_st_data = (uint32_t*) &(this->st_data);
00059       offset += 3;
00060       *val_st_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00061       *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00062       *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00063       *val_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00064       uint32_t exp_st_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00065       exp_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00066       if(exp_st_data !=0)
00067         *val_st_data |= ((exp_st_data)-1023+127)<<23;
00068       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
00069         memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
00070       }
00071      return offset;
00072     }
00073 
00074     const char * getType(){ return "std_msgs/Float64MultiArray"; };
00075     const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
00076 
00077   };
00078 
00079 }
00080 #endif