jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Float32MultiArray.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_std_msgs_Float32MultiArray_h
jjzak 6:3c54bc7badd4 2 #define _ROS_std_msgs_Float32MultiArray_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/MultiArrayLayout.h"
jjzak 6:3c54bc7badd4 9
jjzak 6:3c54bc7badd4 10 namespace std_msgs
jjzak 6:3c54bc7badd4 11 {
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class Float32MultiArray : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 std_msgs::MultiArrayLayout layout;
jjzak 6:3c54bc7badd4 17 uint8_t data_length;
jjzak 6:3c54bc7badd4 18 float st_data;
jjzak 6:3c54bc7badd4 19 float * data;
jjzak 6:3c54bc7badd4 20
jjzak 6:3c54bc7badd4 21 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 22 {
jjzak 6:3c54bc7badd4 23 int offset = 0;
jjzak 6:3c54bc7badd4 24 offset += this->layout.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 25 *(outbuffer + offset++) = data_length;
jjzak 6:3c54bc7badd4 26 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 27 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 28 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 29 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 30 union {
jjzak 6:3c54bc7badd4 31 float real;
jjzak 6:3c54bc7badd4 32 uint32_t base;
jjzak 6:3c54bc7badd4 33 } u_datai;
jjzak 6:3c54bc7badd4 34 u_datai.real = this->data[i];
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 39 offset += sizeof(this->data[i]);
jjzak 6:3c54bc7badd4 40 }
jjzak 6:3c54bc7badd4 41 return offset;
jjzak 6:3c54bc7badd4 42 }
jjzak 6:3c54bc7badd4 43
jjzak 6:3c54bc7badd4 44 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 45 {
jjzak 6:3c54bc7badd4 46 int offset = 0;
jjzak 6:3c54bc7badd4 47 offset += this->layout.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 48 uint8_t data_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 49 if(data_lengthT > data_length)
jjzak 6:3c54bc7badd4 50 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
jjzak 6:3c54bc7badd4 51 offset += 3;
jjzak 6:3c54bc7badd4 52 data_length = data_lengthT;
jjzak 6:3c54bc7badd4 53 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 54 union {
jjzak 6:3c54bc7badd4 55 float real;
jjzak 6:3c54bc7badd4 56 uint32_t base;
jjzak 6:3c54bc7badd4 57 } u_st_data;
jjzak 6:3c54bc7badd4 58 u_st_data.base = 0;
jjzak 6:3c54bc7badd4 59 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
jjzak 6:3c54bc7badd4 60 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 61 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 62 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 63 this->st_data = u_st_data.real;
jjzak 6:3c54bc7badd4 64 offset += sizeof(this->st_data);
jjzak 6:3c54bc7badd4 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
jjzak 6:3c54bc7badd4 66 }
jjzak 6:3c54bc7badd4 67 return offset;
jjzak 6:3c54bc7badd4 68 }
jjzak 6:3c54bc7badd4 69
jjzak 6:3c54bc7badd4 70 const char * getType(){ return "std_msgs/Float32MultiArray"; };
jjzak 6:3c54bc7badd4 71 const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
jjzak 6:3c54bc7badd4 72
jjzak 6:3c54bc7badd4 73 };
jjzak 6:3c54bc7badd4 74
jjzak 6:3c54bc7badd4 75 }
jjzak 6:3c54bc7badd4 76 #endif