jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

std_msgs/Float64MultiArray.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?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_std_msgs_Float64MultiArray_h
jjzak 6:3c54bc7badd4 2 #define _ROS_std_msgs_Float64MultiArray_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 #include "std_msgs/MultiArrayLayout.h"
jjzak 6:3c54bc7badd4 9
jjzak 6:3c54bc7badd4 10 namespace std_msgs
jjzak 6:3c54bc7badd4 11 {
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class Float64MultiArray : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 std_msgs::MultiArrayLayout layout;
jjzak 6:3c54bc7badd4 17 uint8_t data_length;
jjzak 6:3c54bc7badd4 18 float st_data;
jjzak 6:3c54bc7badd4 19 float * data;
jjzak 6:3c54bc7badd4 20
jjzak 6:3c54bc7badd4 21 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 22 {
jjzak 6:3c54bc7badd4 23 int offset = 0;
jjzak 6:3c54bc7badd4 24 offset += this->layout.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 25 *(outbuffer + offset++) = data_length;
jjzak 6:3c54bc7badd4 26 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 27 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 28 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 29 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 30 int32_t * val_datai = (int32_t *) &(this->data[i]);
jjzak 6:3c54bc7badd4 31 int32_t exp_datai = (((*val_datai)>>23)&255);
jjzak 6:3c54bc7badd4 32 if(exp_datai != 0)
jjzak 6:3c54bc7badd4 33 exp_datai += 1023-127;
jjzak 6:3c54bc7badd4 34 int32_t sig_datai = *val_datai;
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
jjzak 6:3c54bc7badd4 39 *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
jjzak 6:3c54bc7badd4 40 *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
jjzak 6:3c54bc7badd4 41 *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
jjzak 6:3c54bc7badd4 42 *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
jjzak 6:3c54bc7badd4 43 if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 44 }
jjzak 6:3c54bc7badd4 45 return offset;
jjzak 6:3c54bc7badd4 46 }
jjzak 6:3c54bc7badd4 47
jjzak 6:3c54bc7badd4 48 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 49 {
jjzak 6:3c54bc7badd4 50 int offset = 0;
jjzak 6:3c54bc7badd4 51 offset += this->layout.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 52 uint8_t data_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 53 if(data_lengthT > data_length)
jjzak 6:3c54bc7badd4 54 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
jjzak 6:3c54bc7badd4 55 offset += 3;
jjzak 6:3c54bc7badd4 56 data_length = data_lengthT;
jjzak 6:3c54bc7badd4 57 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 58 uint32_t * val_st_data = (uint32_t*) &(this->st_data);
jjzak 6:3c54bc7badd4 59 offset += 3;
jjzak 6:3c54bc7badd4 60 *val_st_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 61 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 62 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 63 *val_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 64 uint32_t exp_st_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 65 exp_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 66 if(exp_st_data !=0)
jjzak 6:3c54bc7badd4 67 *val_st_data |= ((exp_st_data)-1023+127)<<23;
jjzak 6:3c54bc7badd4 68 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
jjzak 6:3c54bc7badd4 69 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
jjzak 6:3c54bc7badd4 70 }
jjzak 6:3c54bc7badd4 71 return offset;
jjzak 6:3c54bc7badd4 72 }
jjzak 6:3c54bc7badd4 73
jjzak 6:3c54bc7badd4 74 const char * getType(){ return "std_msgs/Float64MultiArray"; };
jjzak 6:3c54bc7badd4 75 const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
jjzak 6:3c54bc7badd4 76
jjzak 6:3c54bc7badd4 77 };
jjzak 6:3c54bc7badd4 78
jjzak 6:3c54bc7badd4 79 }
jjzak 6:3c54bc7badd4 80 #endif