modify for Hydro version
Fork of rosserial_mbed_lib by
std_msgs/Int64MultiArray.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_std_msgs_Int64MultiArray_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_std_msgs_Int64MultiArray_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 Int64MultiArray : 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 | int64_t st_data; |
jjzak | 6:3c54bc7badd4 | 19 | int64_t * 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 | int64_t real; |
jjzak | 6:3c54bc7badd4 | 32 | uint64_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 | *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 40 | *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 41 | *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 42 | *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 43 | offset += sizeof(this->data[i]); |
jjzak | 6:3c54bc7badd4 | 44 | } |
jjzak | 6:3c54bc7badd4 | 45 | return offset; |
jjzak | 6:3c54bc7badd4 | 46 | } |
jjzak | 6:3c54bc7badd4 | 47 | |
jjzak | 6:3c54bc7badd4 | 48 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 49 | { |
jjzak | 6:3c54bc7badd4 | 50 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 51 | offset += this->layout.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 52 | uint8_t data_lengthT = *(inbuffer + offset++); |
jjzak | 6:3c54bc7badd4 | 53 | if(data_lengthT > data_length) |
jjzak | 6:3c54bc7badd4 | 54 | this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t)); |
jjzak | 6:3c54bc7badd4 | 55 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 56 | data_length = data_lengthT; |
jjzak | 6:3c54bc7badd4 | 57 | for( uint8_t i = 0; i < data_length; i++){ |
jjzak | 6:3c54bc7badd4 | 58 | union { |
jjzak | 6:3c54bc7badd4 | 59 | int64_t real; |
jjzak | 6:3c54bc7badd4 | 60 | uint64_t base; |
jjzak | 6:3c54bc7badd4 | 61 | } u_st_data; |
jjzak | 6:3c54bc7badd4 | 62 | u_st_data.base = 0; |
jjzak | 6:3c54bc7badd4 | 63 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 6:3c54bc7badd4 | 64 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 65 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 66 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 67 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
jjzak | 6:3c54bc7badd4 | 68 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
jjzak | 6:3c54bc7badd4 | 69 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
jjzak | 6:3c54bc7badd4 | 70 | u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
jjzak | 6:3c54bc7badd4 | 71 | this->st_data = u_st_data.real; |
jjzak | 6:3c54bc7badd4 | 72 | offset += sizeof(this->st_data); |
jjzak | 6:3c54bc7badd4 | 73 | memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t)); |
jjzak | 6:3c54bc7badd4 | 74 | } |
jjzak | 6:3c54bc7badd4 | 75 | return offset; |
jjzak | 6:3c54bc7badd4 | 76 | } |
jjzak | 6:3c54bc7badd4 | 77 | |
jjzak | 6:3c54bc7badd4 | 78 | const char * getType(){ return "std_msgs/Int64MultiArray"; }; |
jjzak | 6:3c54bc7badd4 | 79 | const char * getMD5(){ return "54865aa6c65be0448113a2afc6a49270"; }; |
jjzak | 6:3c54bc7badd4 | 80 | |
jjzak | 6:3c54bc7badd4 | 81 | }; |
jjzak | 6:3c54bc7badd4 | 82 | |
jjzak | 6:3c54bc7badd4 | 83 | } |
jjzak | 6:3c54bc7badd4 | 84 | #endif |