modify for Hydro version
Fork of rosserial_mbed_lib by
std_msgs/Float64MultiArray.h
- Committer:
- jjzak
- Date:
- 2013-10-26
- Revision:
- 6:3c54bc7badd4
File content as of revision 6:3c54bc7badd4:
#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