Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

std_msgs/Int32MultiArray.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_std_msgs_Int32MultiArray_h
#define _ROS_std_msgs_Int32MultiArray_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/MultiArrayLayout.h"

namespace std_msgs
{

  class Int32MultiArray : public ros::Msg
  {
    public:
      typedef std_msgs::MultiArrayLayout _layout_type;
      _layout_type layout;
      uint32_t data_length;
      typedef int32_t _data_type;
      _data_type st_data;
      _data_type * data;

    Int32MultiArray():
      layout(),
      data_length(0), data(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->layout.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->data_length);
      for( uint32_t i = 0; i < data_length; i++){
      union {
        int32_t 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);
      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->data_length);
      if(data_lengthT > data_length)
        this->data = (int32_t*)realloc(this->data, data_lengthT * sizeof(int32_t));
      data_length = data_lengthT;
      for( uint32_t i = 0; i < data_length; i++){
      union {
        int32_t real;
        uint32_t base;
      } u_st_data;
      u_st_data.base = 0;
      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_data.base |= ((uint32_t) (*(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(int32_t));
      }
     return offset;
    }

    const char * getType(){ return "std_msgs/Int32MultiArray"; };
    const char * getMD5(){ return "1d99f79f8b325b44fee908053e9c945b"; };

  };

}
#endif