modify for Hydro version
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Diff: std_msgs/Float64MultiArray.h
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
--- a/std_msgs/Float64MultiArray.h Fri Aug 19 09:06:30 2011 +0000 +++ b/std_msgs/Float64MultiArray.h Sun Oct 16 07:19:36 2011 +0000 @@ -7,73 +7,135 @@ #include "../ros/msg.h" #include "std_msgs/MultiArrayLayout.h" -namespace std_msgs -{ +namespace std_msgs { - class Float64MultiArray : public ros::Msg - { - public: - std_msgs::MultiArrayLayout layout; - unsigned char data_length; - float st_data; - float * data; +class Float64MultiArray : public ros::Msg { +public: + std_msgs::MultiArrayLayout layout; + unsigned char data_length; + double st_data; + double * data; - virtual int serialize(unsigned char *outbuffer) - { - int offset = 0; - offset += this->layout.serialize(outbuffer + offset); - *(outbuffer + offset++) = data_length; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < data_length; i++){ - long * val_datai = (long *) &(this->data[i]); - long exp_datai = (((*val_datai)>>23)&255); - if(exp_datai != 0) - exp_datai += 1023-127; - long 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 serialize(unsigned char *outbuffer) { + int offset = 0; + offset += this->layout.serialize(outbuffer + offset); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for ( unsigned char i = 0; i < data_length; i++) { + union { + double real; + uint64_t base; + } u_datai; + u_datai.real = this->data[i]; + *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->data[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) { + int offset = 0; + offset += this->layout.deserialize(inbuffer + offset); + unsigned char data_lengthT = *(inbuffer + offset++); + if (data_lengthT > data_length) + this->data = (double*)realloc(this->data, data_lengthT * sizeof(double)); + offset += 3; + data_length = data_lengthT; + for ( unsigned char i = 0; i < data_length; i++) { + union { + double real; + uint64_t base; + } u_st_data; + u_st_data.base = 0; + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_data = u_st_data.real; + offset += sizeof(this->st_data); + memcpy( &(this->data[i]), &(this->st_data), sizeof(double)); + } + return offset; } - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - offset += this->layout.deserialize(inbuffer + offset); - unsigned char 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( unsigned char i = 0; i < data_length; i++){ - unsigned long * val_st_data = (unsigned long*) &(this->st_data); - offset += 3; - *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_st_data |= ((unsigned long)(*(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)); + /* + public: + std_msgs::MultiArrayLayout layout; + unsigned char data_length; + float st_data; + float * data; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + offset += this->layout.serialize(outbuffer + offset); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < data_length; i++){ + long * val_datai = (long *) &(this->data[i]); + long exp_datai = (((*val_datai)>>23)&255); + if(exp_datai != 0) + exp_datai += 1023-127; + long 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; } - return offset; - } - virtual const char * getType(){ return "std_msgs/Float64MultiArray"; }; + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->layout.deserialize(inbuffer + offset); + unsigned char 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( unsigned char i = 0; i < data_length; i++){ + unsigned long * val_st_data = (unsigned long*) &(this->st_data); + offset += 3; + *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); + *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; + *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; + *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; + unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; + exp_st_data |= ((unsigned long)(*(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; + } + */ + virtual const char * getType() { + return "std_msgs/Float64MultiArray"; + }; - }; +}; } #endif \ No newline at end of file