modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/PointField.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_sensor_msgs_PointField_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_sensor_msgs_PointField_h |
jjzak | 6:3c54bc7badd4 | 3 | |
jjzak | 6:3c54bc7badd4 | 4 | #include <stdint.h> |
jjzak | 6:3c54bc7badd4 | 5 | #include <string.h> |
jjzak | 6:3c54bc7badd4 | 6 | #include <stdlib.h> |
jjzak | 6:3c54bc7badd4 | 7 | #include "ros/msg.h" |
jjzak | 6:3c54bc7badd4 | 8 | |
jjzak | 6:3c54bc7badd4 | 9 | namespace sensor_msgs |
jjzak | 6:3c54bc7badd4 | 10 | { |
jjzak | 6:3c54bc7badd4 | 11 | |
jjzak | 6:3c54bc7badd4 | 12 | class PointField : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 13 | { |
jjzak | 6:3c54bc7badd4 | 14 | public: |
jjzak | 6:3c54bc7badd4 | 15 | char * name; |
jjzak | 6:3c54bc7badd4 | 16 | uint32_t offset; |
jjzak | 6:3c54bc7badd4 | 17 | uint8_t datatype; |
jjzak | 6:3c54bc7badd4 | 18 | uint32_t count; |
jjzak | 6:3c54bc7badd4 | 19 | enum { INT8 = 1 }; |
jjzak | 6:3c54bc7badd4 | 20 | enum { UINT8 = 2 }; |
jjzak | 6:3c54bc7badd4 | 21 | enum { INT16 = 3 }; |
jjzak | 6:3c54bc7badd4 | 22 | enum { UINT16 = 4 }; |
jjzak | 6:3c54bc7badd4 | 23 | enum { INT32 = 5 }; |
jjzak | 6:3c54bc7badd4 | 24 | enum { UINT32 = 6 }; |
jjzak | 6:3c54bc7badd4 | 25 | enum { FLOAT32 = 7 }; |
jjzak | 6:3c54bc7badd4 | 26 | enum { FLOAT64 = 8 }; |
jjzak | 6:3c54bc7badd4 | 27 | |
jjzak | 6:3c54bc7badd4 | 28 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 29 | { |
jjzak | 6:3c54bc7badd4 | 30 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 31 | uint32_t length_name = strlen( (const char*) this->name); |
jjzak | 6:3c54bc7badd4 | 32 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 33 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 34 | memcpy(outbuffer + offset, this->name, length_name); |
jjzak | 6:3c54bc7badd4 | 35 | offset += length_name; |
jjzak | 6:3c54bc7badd4 | 36 | *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 37 | *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 38 | *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 39 | *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 40 | offset += sizeof(this->offset); |
jjzak | 6:3c54bc7badd4 | 41 | *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 42 | offset += sizeof(this->datatype); |
jjzak | 6:3c54bc7badd4 | 43 | *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 44 | *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 45 | *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 46 | *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 47 | offset += sizeof(this->count); |
jjzak | 6:3c54bc7badd4 | 48 | return offset; |
jjzak | 6:3c54bc7badd4 | 49 | } |
jjzak | 6:3c54bc7badd4 | 50 | |
jjzak | 6:3c54bc7badd4 | 51 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 52 | { |
jjzak | 6:3c54bc7badd4 | 53 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 54 | uint32_t length_name; |
jjzak | 6:3c54bc7badd4 | 55 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 56 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 57 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
jjzak | 6:3c54bc7badd4 | 58 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 59 | } |
jjzak | 6:3c54bc7badd4 | 60 | inbuffer[offset+length_name-1]=0; |
jjzak | 6:3c54bc7badd4 | 61 | this->name = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 62 | offset += length_name; |
jjzak | 6:3c54bc7badd4 | 63 | this->offset = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 64 | this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 65 | this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 66 | this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 67 | offset += sizeof(this->offset); |
jjzak | 6:3c54bc7badd4 | 68 | this->datatype = ((uint8_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 69 | offset += sizeof(this->datatype); |
jjzak | 6:3c54bc7badd4 | 70 | this->count = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 71 | this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 72 | this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 73 | this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 74 | offset += sizeof(this->count); |
jjzak | 6:3c54bc7badd4 | 75 | return offset; |
jjzak | 6:3c54bc7badd4 | 76 | } |
jjzak | 6:3c54bc7badd4 | 77 | |
jjzak | 6:3c54bc7badd4 | 78 | const char * getType(){ return "sensor_msgs/PointField"; }; |
jjzak | 6:3c54bc7badd4 | 79 | const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; }; |
jjzak | 6:3c54bc7badd4 | 80 | |
jjzak | 6:3c54bc7badd4 | 81 | }; |
jjzak | 6:3c54bc7badd4 | 82 | |
jjzak | 6:3c54bc7badd4 | 83 | } |
jjzak | 6:3c54bc7badd4 | 84 | #endif |