modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: std_msgs/Float64MultiArray.h
- Revision:
- 6:3c54bc7badd4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/std_msgs/Float64MultiArray.h Sat Oct 26 15:39:01 2013 +0000 @@ -0,0 +1,80 @@ +#ifndef _ROS_std_msgs_Float64MultiArray_h +#define _ROS_std_msgs_Float64MultiArray_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/MultiArrayLayout.h" + +namespace std_msgs +{ + + class Float64MultiArray : public ros::Msg + { + public: + std_msgs::MultiArrayLayout layout; + uint8_t data_length; + float st_data; + float * data; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->layout.serialize(outbuffer + offset); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( uint8_t i = 0; i < data_length; i++){ + int32_t * val_datai = (int32_t *) &(this->data[i]); + int32_t exp_datai = (((*val_datai)>>23)&255); + if(exp_datai != 0) + exp_datai += 1023-127; + int32_t sig_datai = *val_datai; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_datai<<5) & 0xff; + *(outbuffer + offset++) = (sig_datai>>3) & 0xff; + *(outbuffer + offset++) = (sig_datai>>11) & 0xff; + *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F); + *(outbuffer + offset++) = (exp_datai>>4) & 0x7F; + if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->layout.deserialize(inbuffer + offset); + uint8_t data_lengthT = *(inbuffer + offset++); + if(data_lengthT > data_length) + this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); + offset += 3; + data_length = data_lengthT; + for( uint8_t i = 0; i < data_length; i++){ + uint32_t * val_st_data = (uint32_t*) &(this->st_data); + offset += 3; + *val_st_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_st_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_st_data !=0) + *val_st_data |= ((exp_st_data)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data; + memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); + } + return offset; + } + + const char * getType(){ return "std_msgs/Float64MultiArray"; }; + const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; }; + + }; + +} +#endif