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Dependencies:   rosserial_mbed_lib mbed Servo

std_msgs/Float32MultiArray.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
1:098e75fd5ad2 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:dff241b66f84 1 #ifndef _ROS_std_msgs_Float32MultiArray_h
nucho 3:dff241b66f84 2 #define _ROS_std_msgs_Float32MultiArray_h
nucho 3:dff241b66f84 3
nucho 3:dff241b66f84 4 #include <stdint.h>
nucho 3:dff241b66f84 5 #include <string.h>
nucho 3:dff241b66f84 6 #include <stdlib.h>
nucho 3:dff241b66f84 7 #include "ros/msg.h"
nucho 3:dff241b66f84 8 #include "std_msgs/MultiArrayLayout.h"
nucho 3:dff241b66f84 9
nucho 3:dff241b66f84 10 namespace std_msgs
nucho 3:dff241b66f84 11 {
nucho 3:dff241b66f84 12
nucho 3:dff241b66f84 13 class Float32MultiArray : public ros::Msg
nucho 3:dff241b66f84 14 {
nucho 3:dff241b66f84 15 public:
nucho 3:dff241b66f84 16 std_msgs::MultiArrayLayout layout;
nucho 3:dff241b66f84 17 uint8_t data_length;
nucho 3:dff241b66f84 18 float st_data;
nucho 3:dff241b66f84 19 float * data;
nucho 3:dff241b66f84 20
nucho 3:dff241b66f84 21 virtual int serialize(unsigned char *outbuffer) const
nucho 3:dff241b66f84 22 {
nucho 3:dff241b66f84 23 int offset = 0;
nucho 3:dff241b66f84 24 offset += this->layout.serialize(outbuffer + offset);
nucho 3:dff241b66f84 25 *(outbuffer + offset++) = data_length;
nucho 3:dff241b66f84 26 *(outbuffer + offset++) = 0;
nucho 3:dff241b66f84 27 *(outbuffer + offset++) = 0;
nucho 3:dff241b66f84 28 *(outbuffer + offset++) = 0;
nucho 3:dff241b66f84 29 for( uint8_t i = 0; i < data_length; i++){
nucho 3:dff241b66f84 30 union {
nucho 3:dff241b66f84 31 float real;
nucho 3:dff241b66f84 32 uint32_t base;
nucho 3:dff241b66f84 33 } u_datai;
nucho 3:dff241b66f84 34 u_datai.real = this->data[i];
nucho 3:dff241b66f84 35 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 3:dff241b66f84 36 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
nucho 3:dff241b66f84 37 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
nucho 3:dff241b66f84 38 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
nucho 3:dff241b66f84 39 offset += sizeof(this->data[i]);
nucho 3:dff241b66f84 40 }
nucho 3:dff241b66f84 41 return offset;
nucho 3:dff241b66f84 42 }
nucho 3:dff241b66f84 43
nucho 3:dff241b66f84 44 virtual int deserialize(unsigned char *inbuffer)
nucho 3:dff241b66f84 45 {
nucho 3:dff241b66f84 46 int offset = 0;
nucho 3:dff241b66f84 47 offset += this->layout.deserialize(inbuffer + offset);
nucho 3:dff241b66f84 48 uint8_t data_lengthT = *(inbuffer + offset++);
nucho 3:dff241b66f84 49 if(data_lengthT > data_length)
nucho 3:dff241b66f84 50 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
nucho 3:dff241b66f84 51 offset += 3;
nucho 3:dff241b66f84 52 data_length = data_lengthT;
nucho 3:dff241b66f84 53 for( uint8_t i = 0; i < data_length; i++){
nucho 3:dff241b66f84 54 union {
nucho 3:dff241b66f84 55 float real;
nucho 3:dff241b66f84 56 uint32_t base;
nucho 3:dff241b66f84 57 } u_st_data;
nucho 3:dff241b66f84 58 u_st_data.base = 0;
nucho 3:dff241b66f84 59 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:dff241b66f84 60 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:dff241b66f84 61 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 3:dff241b66f84 62 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 3:dff241b66f84 63 this->st_data = u_st_data.real;
nucho 3:dff241b66f84 64 offset += sizeof(this->st_data);
nucho 3:dff241b66f84 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
nucho 3:dff241b66f84 66 }
nucho 3:dff241b66f84 67 return offset;
nucho 3:dff241b66f84 68 }
nucho 3:dff241b66f84 69
nucho 3:dff241b66f84 70 virtual const char * getType(){ return "std_msgs/Float32MultiArray"; };
nucho 3:dff241b66f84 71 virtual const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
nucho 3:dff241b66f84 72
nucho 3:dff241b66f84 73 };
nucho 3:dff241b66f84 74
nucho 3:dff241b66f84 75 }
nucho 0:06fc856e99ca 76 #endif