modify for Hydro version
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Diff: sensor_msgs/ChannelFloat32.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/sensor_msgs/ChannelFloat32.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,86 +0,0 @@ - #ifndef _ROS_sensor_msgs_ChannelFloat32_h -#define _ROS_sensor_msgs_ChannelFloat32_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "ros/msg.h" - -namespace sensor_msgs -{ - - class ChannelFloat32 : public ros::Msg - { - public: - char * name; - uint8_t values_length; - float st_values; - float * values; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - uint32_t * length_name = (uint32_t *)(outbuffer + offset); - *length_name = strlen( (const char*) this->name); - offset += 4; - memcpy(outbuffer + offset, this->name, *length_name); - offset += *length_name; - *(outbuffer + offset++) = values_length; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - for( uint8_t i = 0; i < values_length; i++){ - union { - float real; - uint32_t base; - } u_valuesi; - u_valuesi.real = this->values[i]; - *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; - offset += sizeof(this->values[i]); - } - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - uint32_t length_name = *(uint32_t *)(inbuffer + offset); - offset += 4; - for(unsigned int k= offset; k< offset+length_name; ++k){ - inbuffer[k-1]=inbuffer[k]; - } - inbuffer[offset+length_name-1]=0; - this->name = (char *)(inbuffer + offset-1); - offset += length_name; - uint8_t values_lengthT = *(inbuffer + offset++); - if(values_lengthT > values_length) - this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); - offset += 3; - values_length = values_lengthT; - for( uint8_t i = 0; i < values_length; i++){ - union { - float real; - uint32_t base; - } u_st_values; - u_st_values.base = 0; - u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); - u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); - u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); - u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); - this->st_values = u_st_values.real; - offset += sizeof(this->st_values); - memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); - } - return offset; - } - - virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; - virtual const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; - - }; - -} -#endif \ No newline at end of file