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std_msgs/MultiArrayLayout.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:77afd7560544 | 1 | #ifndef ros_MultiArrayLayout_h |
nucho | 0:77afd7560544 | 2 | #define ros_MultiArrayLayout_h |
nucho | 0:77afd7560544 | 3 | |
nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
nucho | 0:77afd7560544 | 5 | #include <string.h> |
nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
nucho | 0:77afd7560544 | 8 | #include "std_msgs/MultiArrayDimension.h" |
nucho | 0:77afd7560544 | 9 | |
nucho | 0:77afd7560544 | 10 | namespace std_msgs |
nucho | 0:77afd7560544 | 11 | { |
nucho | 0:77afd7560544 | 12 | |
nucho | 0:77afd7560544 | 13 | class MultiArrayLayout : public ros::Msg |
nucho | 0:77afd7560544 | 14 | { |
nucho | 0:77afd7560544 | 15 | public: |
nucho | 0:77afd7560544 | 16 | unsigned char dim_length; |
nucho | 0:77afd7560544 | 17 | std_msgs::MultiArrayDimension st_dim; |
nucho | 0:77afd7560544 | 18 | std_msgs::MultiArrayDimension * dim; |
nucho | 0:77afd7560544 | 19 | unsigned long data_offset; |
nucho | 0:77afd7560544 | 20 | |
nucho | 0:77afd7560544 | 21 | virtual int serialize(unsigned char *outbuffer) |
nucho | 0:77afd7560544 | 22 | { |
nucho | 0:77afd7560544 | 23 | int offset = 0; |
nucho | 0:77afd7560544 | 24 | *(outbuffer + offset++) = dim_length; |
nucho | 0:77afd7560544 | 25 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 26 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 27 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 28 | for( unsigned char i = 0; i < dim_length; i++){ |
nucho | 0:77afd7560544 | 29 | offset += this->dim[i].serialize(outbuffer + offset); |
nucho | 0:77afd7560544 | 30 | } |
nucho | 0:77afd7560544 | 31 | union { |
nucho | 0:77afd7560544 | 32 | unsigned long real; |
nucho | 0:77afd7560544 | 33 | unsigned long base; |
nucho | 0:77afd7560544 | 34 | } u_data_offset; |
nucho | 0:77afd7560544 | 35 | u_data_offset.real = this->data_offset; |
nucho | 0:77afd7560544 | 36 | *(outbuffer + offset + 0) = (u_data_offset.base >> (8 * 0)) & 0xFF; |
nucho | 0:77afd7560544 | 37 | *(outbuffer + offset + 1) = (u_data_offset.base >> (8 * 1)) & 0xFF; |
nucho | 0:77afd7560544 | 38 | *(outbuffer + offset + 2) = (u_data_offset.base >> (8 * 2)) & 0xFF; |
nucho | 0:77afd7560544 | 39 | *(outbuffer + offset + 3) = (u_data_offset.base >> (8 * 3)) & 0xFF; |
nucho | 0:77afd7560544 | 40 | offset += sizeof(this->data_offset); |
nucho | 0:77afd7560544 | 41 | return offset; |
nucho | 0:77afd7560544 | 42 | } |
nucho | 0:77afd7560544 | 43 | |
nucho | 0:77afd7560544 | 44 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:77afd7560544 | 45 | { |
nucho | 0:77afd7560544 | 46 | int offset = 0; |
nucho | 0:77afd7560544 | 47 | unsigned char dim_lengthT = *(inbuffer + offset++); |
nucho | 0:77afd7560544 | 48 | if(dim_lengthT > dim_length) |
nucho | 0:77afd7560544 | 49 | this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension)); |
nucho | 0:77afd7560544 | 50 | offset += 3; |
nucho | 0:77afd7560544 | 51 | dim_length = dim_lengthT; |
nucho | 0:77afd7560544 | 52 | for( unsigned char i = 0; i < dim_length; i++){ |
nucho | 0:77afd7560544 | 53 | offset += this->st_dim.deserialize(inbuffer + offset); |
nucho | 0:77afd7560544 | 54 | memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension)); |
nucho | 0:77afd7560544 | 55 | } |
nucho | 0:77afd7560544 | 56 | union { |
nucho | 0:77afd7560544 | 57 | unsigned long real; |
nucho | 0:77afd7560544 | 58 | unsigned long base; |
nucho | 0:77afd7560544 | 59 | } u_data_offset; |
nucho | 0:77afd7560544 | 60 | u_data_offset.base = 0; |
nucho | 0:77afd7560544 | 61 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:77afd7560544 | 62 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 0:77afd7560544 | 63 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 0:77afd7560544 | 64 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 0:77afd7560544 | 65 | this->data_offset = u_data_offset.real; |
nucho | 0:77afd7560544 | 66 | offset += sizeof(this->data_offset); |
nucho | 0:77afd7560544 | 67 | return offset; |
nucho | 0:77afd7560544 | 68 | } |
nucho | 0:77afd7560544 | 69 | |
nucho | 0:77afd7560544 | 70 | virtual const char * getType(){ return "std_msgs/MultiArrayLayout"; }; |
nucho | 0:77afd7560544 | 71 | |
nucho | 0:77afd7560544 | 72 | }; |
nucho | 0:77afd7560544 | 73 | |
nucho | 0:77afd7560544 | 74 | } |
nucho | 0:77afd7560544 | 75 | #endif |