modify for Hydro version
Fork of rosserial_mbed_lib by
std_msgs/Float64.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 1:ff0ec969dad1:
#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"; }; }; } #endif