modify for Hydro version
Fork of rosserial_mbed_lib by
std_msgs/Int16MultiArray.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_Int16MultiArray_h #define ros_Int16MultiArray_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "std_msgs/MultiArrayLayout.h" namespace std_msgs { class Int16MultiArray : public ros::Msg { public: std_msgs::MultiArrayLayout layout; unsigned char data_length; int16_t st_data; int16_t * 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++){ union { int16_t real; uint16_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; 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 = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t)); offset += 3; data_length = data_lengthT; for( unsigned char i = 0; i < data_length; i++){ union { int16_t real; uint16_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); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t)); } return offset; } virtual const char * getType(){ return "std_msgs/Int16MultiArray"; }; }; } #endif