nucho
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Dependencies: rosserial_mbed_lib mbed Servo
std_msgs/Float64MultiArray.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_Float64MultiArray_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_Float64MultiArray_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 | 0:06fc856e99ca | 7 | #include "../ros/msg.h" |
| nucho | 0:06fc856e99ca | 8 | #include "std_msgs/MultiArrayLayout.h" |
| nucho | 0:06fc856e99ca | 9 | |
| nucho | 0:06fc856e99ca | 10 | namespace std_msgs |
| nucho | 0:06fc856e99ca | 11 | { |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | class Float64MultiArray : public ros::Msg |
| nucho | 0:06fc856e99ca | 14 | { |
| nucho | 0:06fc856e99ca | 15 | public: |
| nucho | 0:06fc856e99ca | 16 | std_msgs::MultiArrayLayout layout; |
| nucho | 0:06fc856e99ca | 17 | unsigned char data_length; |
| nucho | 0:06fc856e99ca | 18 | float st_data; |
| nucho | 0:06fc856e99ca | 19 | float * data; |
| nucho | 0:06fc856e99ca | 20 | |
| nucho | 0:06fc856e99ca | 21 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 22 | { |
| nucho | 0:06fc856e99ca | 23 | int offset = 0; |
| nucho | 0:06fc856e99ca | 24 | offset += this->layout.serialize(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 25 | *(outbuffer + offset++) = data_length; |
| nucho | 0:06fc856e99ca | 26 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 27 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 28 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 29 | for( unsigned char i = 0; i < data_length; i++){ |
| nucho | 0:06fc856e99ca | 30 | long * val_datai = (long *) &(this->data[i]); |
| nucho | 0:06fc856e99ca | 31 | long exp_datai = (((*val_datai)>>23)&255); |
| nucho | 0:06fc856e99ca | 32 | if(exp_datai != 0) |
| nucho | 0:06fc856e99ca | 33 | exp_datai += 1023-127; |
| nucho | 0:06fc856e99ca | 34 | long sig_datai = *val_datai; |
| nucho | 0:06fc856e99ca | 35 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 36 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 37 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 38 | *(outbuffer + offset++) = (sig_datai<<5) & 0xff; |
| nucho | 0:06fc856e99ca | 39 | *(outbuffer + offset++) = (sig_datai>>3) & 0xff; |
| nucho | 0:06fc856e99ca | 40 | *(outbuffer + offset++) = (sig_datai>>11) & 0xff; |
| nucho | 0:06fc856e99ca | 41 | *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F); |
| nucho | 0:06fc856e99ca | 42 | *(outbuffer + offset++) = (exp_datai>>4) & 0x7F; |
| nucho | 0:06fc856e99ca | 43 | if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80; |
| nucho | 0:06fc856e99ca | 44 | } |
| nucho | 0:06fc856e99ca | 45 | return offset; |
| nucho | 0:06fc856e99ca | 46 | } |
| nucho | 0:06fc856e99ca | 47 | |
| nucho | 0:06fc856e99ca | 48 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 49 | { |
| nucho | 0:06fc856e99ca | 50 | int offset = 0; |
| nucho | 0:06fc856e99ca | 51 | offset += this->layout.deserialize(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 52 | unsigned char data_lengthT = *(inbuffer + offset++); |
| nucho | 0:06fc856e99ca | 53 | if(data_lengthT > data_length) |
| nucho | 0:06fc856e99ca | 54 | this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); |
| nucho | 0:06fc856e99ca | 55 | offset += 3; |
| nucho | 0:06fc856e99ca | 56 | data_length = data_lengthT; |
| nucho | 0:06fc856e99ca | 57 | for( unsigned char i = 0; i < data_length; i++){ |
| nucho | 0:06fc856e99ca | 58 | unsigned long * val_st_data = (unsigned long*) &(this->st_data); |
| nucho | 0:06fc856e99ca | 59 | offset += 3; |
| nucho | 0:06fc856e99ca | 60 | *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); |
| nucho | 0:06fc856e99ca | 61 | *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; |
| nucho | 0:06fc856e99ca | 62 | *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; |
| nucho | 0:06fc856e99ca | 63 | *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; |
| nucho | 0:06fc856e99ca | 64 | unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; |
| nucho | 0:06fc856e99ca | 65 | exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; |
| nucho | 0:06fc856e99ca | 66 | if(exp_st_data !=0) |
| nucho | 0:06fc856e99ca | 67 | *val_st_data |= ((exp_st_data)-1023+127)<<23; |
| nucho | 0:06fc856e99ca | 68 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data; |
| nucho | 0:06fc856e99ca | 69 | memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); |
| nucho | 0:06fc856e99ca | 70 | } |
| nucho | 0:06fc856e99ca | 71 | return offset; |
| nucho | 0:06fc856e99ca | 72 | } |
| nucho | 0:06fc856e99ca | 73 | |
| nucho | 0:06fc856e99ca | 74 | virtual const char * getType(){ return "std_msgs/Float64MultiArray"; }; |
| nucho | 0:06fc856e99ca | 75 | |
| nucho | 0:06fc856e99ca | 76 | }; |
| nucho | 0:06fc856e99ca | 77 | |
| nucho | 0:06fc856e99ca | 78 | } |
| nucho | 0:06fc856e99ca | 79 | #endif |