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Dependencies:   rosserial_mbed_lib mbed Servo

std_msgs/UInt64MultiArray.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_UInt64MultiArray_h
nucho 3:dff241b66f84 2 #define _ROS_std_msgs_UInt64MultiArray_h
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 #include <stdint.h>
nucho 0:06fc856e99ca 5 #include <string.h>
nucho 0:06fc856e99ca 6 #include <stdlib.h>
nucho 3:dff241b66f84 7 #include "ros/msg.h"
nucho 0:06fc856e99ca 8 #include "std_msgs/MultiArrayLayout.h"
nucho 0:06fc856e99ca 9
nucho 3:dff241b66f84 10 namespace std_msgs
nucho 3:dff241b66f84 11 {
nucho 0:06fc856e99ca 12
nucho 3:dff241b66f84 13 class UInt64MultiArray : public ros::Msg
nucho 3:dff241b66f84 14 {
nucho 1:098e75fd5ad2 15 public:
nucho 1:098e75fd5ad2 16 std_msgs::MultiArrayLayout layout;
nucho 1:098e75fd5ad2 17 unsigned char data_length;
nucho 1:098e75fd5ad2 18 uint64_t st_data;
nucho 1:098e75fd5ad2 19 uint64_t * data;
nucho 0:06fc856e99ca 20
nucho 3:dff241b66f84 21 virtual int serialize(unsigned char *outbuffer) const {
nucho 1:098e75fd5ad2 22 int offset = 0;
nucho 1:098e75fd5ad2 23 offset += this->layout.serialize(outbuffer + offset);
nucho 1:098e75fd5ad2 24 *(outbuffer + offset++) = data_length;
nucho 1:098e75fd5ad2 25 *(outbuffer + offset++) = 0;
nucho 1:098e75fd5ad2 26 *(outbuffer + offset++) = 0;
nucho 1:098e75fd5ad2 27 *(outbuffer + offset++) = 0;
nucho 1:098e75fd5ad2 28 for ( unsigned char i = 0; i < data_length; i++) {
nucho 1:098e75fd5ad2 29 union {
nucho 1:098e75fd5ad2 30 uint64_t real;
nucho 1:098e75fd5ad2 31 uint64_t base;
nucho 1:098e75fd5ad2 32 } u_datai;
nucho 1:098e75fd5ad2 33 u_datai.real = this->data[i];
nucho 1:098e75fd5ad2 34 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 1:098e75fd5ad2 35 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
nucho 1:098e75fd5ad2 36 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
nucho 1:098e75fd5ad2 37 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
nucho 1:098e75fd5ad2 38 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
nucho 1:098e75fd5ad2 39 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
nucho 1:098e75fd5ad2 40 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
nucho 1:098e75fd5ad2 41 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
nucho 1:098e75fd5ad2 42 offset += sizeof(this->data[i]);
nucho 1:098e75fd5ad2 43 }
nucho 1:098e75fd5ad2 44 return offset;
nucho 0:06fc856e99ca 45 }
nucho 0:06fc856e99ca 46
nucho 1:098e75fd5ad2 47 virtual int deserialize(unsigned char *inbuffer) {
nucho 1:098e75fd5ad2 48 int offset = 0;
nucho 1:098e75fd5ad2 49 offset += this->layout.deserialize(inbuffer + offset);
nucho 1:098e75fd5ad2 50 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 1:098e75fd5ad2 51 if (data_lengthT > data_length)
nucho 1:098e75fd5ad2 52 this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
nucho 1:098e75fd5ad2 53 offset += 3;
nucho 1:098e75fd5ad2 54 data_length = data_lengthT;
nucho 1:098e75fd5ad2 55 for ( unsigned char i = 0; i < data_length; i++) {
nucho 1:098e75fd5ad2 56 union {
nucho 1:098e75fd5ad2 57 uint64_t real;
nucho 1:098e75fd5ad2 58 uint64_t base;
nucho 1:098e75fd5ad2 59 } u_st_data;
nucho 1:098e75fd5ad2 60 u_st_data.base = 0;
nucho 1:098e75fd5ad2 61 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 1:098e75fd5ad2 62 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 1:098e75fd5ad2 63 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 1:098e75fd5ad2 64 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 1:098e75fd5ad2 65 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
nucho 1:098e75fd5ad2 66 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
nucho 1:098e75fd5ad2 67 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
nucho 1:098e75fd5ad2 68 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
nucho 1:098e75fd5ad2 69 this->st_data = u_st_data.real;
nucho 1:098e75fd5ad2 70 offset += sizeof(this->st_data);
nucho 1:098e75fd5ad2 71 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
nucho 1:098e75fd5ad2 72 }
nucho 1:098e75fd5ad2 73 return offset;
nucho 1:098e75fd5ad2 74 }
nucho 1:098e75fd5ad2 75
nucho 3:dff241b66f84 76 virtual const char * getType(){ return "std_msgs/UInt64MultiArray"; };
nucho 3:dff241b66f84 77 virtual const char * getMD5(){ return "6088f127afb1d6c72927aa1247e945af"; };
nucho 0:06fc856e99ca 78
nucho 3:dff241b66f84 79 };
nucho 0:06fc856e99ca 80
nucho 0:06fc856e99ca 81 }
nucho 0:06fc856e99ca 82 #endif