Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/ChannelFloat32.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_ChannelFloat32_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_ChannelFloat32_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class ChannelFloat32 : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 uint32_t values_length;
garyservin 0:9e9b7db60fd5 18 typedef float _values_type;
garyservin 0:9e9b7db60fd5 19 _values_type st_values;
garyservin 0:9e9b7db60fd5 20 _values_type * values;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 ChannelFloat32():
garyservin 0:9e9b7db60fd5 23 name(""),
garyservin 0:9e9b7db60fd5 24 values_length(0), values(NULL)
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 }
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 int offset = 0;
garyservin 0:9e9b7db60fd5 31 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 35 offset += length_name;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 41 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 42 union {
garyservin 0:9e9b7db60fd5 43 float real;
garyservin 0:9e9b7db60fd5 44 uint32_t base;
garyservin 0:9e9b7db60fd5 45 } u_valuesi;
garyservin 0:9e9b7db60fd5 46 u_valuesi.real = this->values[i];
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->values[i]);
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53 return offset;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 57 {
garyservin 0:9e9b7db60fd5 58 int offset = 0;
garyservin 0:9e9b7db60fd5 59 uint32_t length_name;
garyservin 0:9e9b7db60fd5 60 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 61 offset += 4;
garyservin 0:9e9b7db60fd5 62 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 63 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 64 }
garyservin 0:9e9b7db60fd5 65 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 66 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 67 offset += length_name;
garyservin 0:9e9b7db60fd5 68 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 69 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 73 if(values_lengthT > values_length)
garyservin 0:9e9b7db60fd5 74 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 75 values_length = values_lengthT;
garyservin 0:9e9b7db60fd5 76 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 float real;
garyservin 0:9e9b7db60fd5 79 uint32_t base;
garyservin 0:9e9b7db60fd5 80 } u_st_values;
garyservin 0:9e9b7db60fd5 81 u_st_values.base = 0;
garyservin 0:9e9b7db60fd5 82 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 83 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 this->st_values = u_st_values.real;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->st_values);
garyservin 0:9e9b7db60fd5 88 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
garyservin 0:9e9b7db60fd5 94 const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 }
garyservin 0:9e9b7db60fd5 99 #endif