modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: std_msgs/Float64.h
- Revision:
- 3:1cf99502f396
- Parent:
- 1:ff0ec969dad1
--- a/std_msgs/Float64.h Sun Oct 16 09:35:11 2011 +0000 +++ b/std_msgs/Float64.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,100 +1,64 @@ -#ifndef ros_Float64_h -#define ros_Float64_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "../ros/msg.h" - -namespace std_msgs -{ - - class Float64 : public ros::Msg - { - public: - double data; - - virtual int serialize(unsigned char *outbuffer) - { - int offset = 0; - union { - double real; - uint64_t base; - } u_data; - u_data.real = this->data; - *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF; - *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF; - *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF; - *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF; - *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF; - offset += sizeof(this->data); - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - union { - double real; - uint64_t base; - } u_data; - u_data.base = 0; - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6); - u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7); - this->data = u_data.real; - offset += sizeof(this->data); - return offset; - } -/* - virtual int serialize(unsigned char *outbuffer) - { - int offset = 0; - long * val_data = (long *) &(this->data); - long exp_data = (((*val_data)>>23)&255); - if(exp_data != 0) - exp_data += 1023-127; - long sig_data = *val_data; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_data<<5) & 0xff; - *(outbuffer + offset++) = (sig_data>>3) & 0xff; - *(outbuffer + offset++) = (sig_data>>11) & 0xff; - *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F); - *(outbuffer + offset++) = (exp_data>>4) & 0x7F; - if(this->data < 0) *(outbuffer + offset -1) |= 0x80; - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - unsigned long * val_data = (unsigned long*) &(this->data); - offset += 3; - *val_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_data !=0) - *val_data |= ((exp_data)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data; - return offset; - } -*/ - virtual const char * getType(){ return "std_msgs/Float64"; }; - - }; - -} +#ifndef _ROS_std_msgs_Float64_h +#define _ROS_std_msgs_Float64_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace std_msgs +{ + + class Float64 : public ros::Msg + { + public: + double data; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + double real; + uint64_t base; + } u_data; + u_data.real = this->data; + *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->data); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + double real; + uint64_t base; + } u_data; + u_data.base = 0; + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7); + this->data = u_data.real; + offset += sizeof(this->data); + return offset; + } + + virtual const char * getType(){ return "std_msgs/Float64"; }; + virtual const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; }; + + }; + +} #endif \ No newline at end of file