jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Float64.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_Float64_h
jjzak 6:3c54bc7badd4 2 #define _ROS_std_msgs_Float64_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
jjzak 6:3c54bc7badd4 9 namespace std_msgs
jjzak 6:3c54bc7badd4 10 {
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 class Float64 : public ros::Msg
jjzak 6:3c54bc7badd4 13 {
jjzak 6:3c54bc7badd4 14 public:
jjzak 6:3c54bc7badd4 15 float data;
jjzak 6:3c54bc7badd4 16
jjzak 6:3c54bc7badd4 17 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 18 {
jjzak 6:3c54bc7badd4 19 int offset = 0;
jjzak 6:3c54bc7badd4 20 int32_t * val_data = (int32_t *) &(this->data);
jjzak 6:3c54bc7badd4 21 int32_t exp_data = (((*val_data)>>23)&255);
jjzak 6:3c54bc7badd4 22 if(exp_data != 0)
jjzak 6:3c54bc7badd4 23 exp_data += 1023-127;
jjzak 6:3c54bc7badd4 24 int32_t sig_data = *val_data;
jjzak 6:3c54bc7badd4 25 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 26 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 27 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 28 *(outbuffer + offset++) = (sig_data<<5) & 0xff;
jjzak 6:3c54bc7badd4 29 *(outbuffer + offset++) = (sig_data>>3) & 0xff;
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset++) = (sig_data>>11) & 0xff;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F);
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset++) = (exp_data>>4) & 0x7F;
jjzak 6:3c54bc7badd4 33 if(this->data < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 34 return offset;
jjzak 6:3c54bc7badd4 35 }
jjzak 6:3c54bc7badd4 36
jjzak 6:3c54bc7badd4 37 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 38 {
jjzak 6:3c54bc7badd4 39 int offset = 0;
jjzak 6:3c54bc7badd4 40 uint32_t * val_data = (uint32_t*) &(this->data);
jjzak 6:3c54bc7badd4 41 offset += 3;
jjzak 6:3c54bc7badd4 42 *val_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 43 *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 44 *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 45 *val_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 46 uint32_t exp_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 47 exp_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 48 if(exp_data !=0)
jjzak 6:3c54bc7badd4 49 *val_data |= ((exp_data)-1023+127)<<23;
jjzak 6:3c54bc7badd4 50 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data;
jjzak 6:3c54bc7badd4 51 return offset;
jjzak 6:3c54bc7badd4 52 }
jjzak 6:3c54bc7badd4 53
jjzak 6:3c54bc7badd4 54 const char * getType(){ return "std_msgs/Float64"; };
jjzak 6:3c54bc7badd4 55 const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; };
jjzak 6:3c54bc7badd4 56
jjzak 6:3c54bc7badd4 57 };
jjzak 6:3c54bc7badd4 58
jjzak 6:3c54bc7badd4 59 }
jjzak 6:3c54bc7badd4 60 #endif