ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

std_msgs/Float64MultiArray.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_std_msgs_Float64MultiArray_h
garyservin 0:fd24f7ca9688 2 #define _ROS_std_msgs_Float64MultiArray_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/MultiArrayLayout.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace std_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Float64MultiArray : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::MultiArrayLayout layout;
garyservin 0:fd24f7ca9688 17 uint8_t data_length;
garyservin 0:fd24f7ca9688 18 double st_data;
garyservin 0:fd24f7ca9688 19 double * data;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 Float64MultiArray():
garyservin 0:fd24f7ca9688 22 layout(),
garyservin 0:fd24f7ca9688 23 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 offset += this->layout.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 35 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 36 union {
garyservin 0:fd24f7ca9688 37 double real;
garyservin 0:fd24f7ca9688 38 uint64_t base;
garyservin 0:fd24f7ca9688 39 } u_datai;
garyservin 0:fd24f7ca9688 40 u_datai.real = this->data[i];
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 50 }
garyservin 0:fd24f7ca9688 51 return offset;
garyservin 0:fd24f7ca9688 52 }
garyservin 0:fd24f7ca9688 53
garyservin 0:fd24f7ca9688 54 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 55 {
garyservin 0:fd24f7ca9688 56 int offset = 0;
garyservin 0:fd24f7ca9688 57 offset += this->layout.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 58 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 59 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 60 this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 61 offset += 3;
garyservin 0:fd24f7ca9688 62 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 63 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 64 union {
garyservin 0:fd24f7ca9688 65 double real;
garyservin 0:fd24f7ca9688 66 uint64_t base;
garyservin 0:fd24f7ca9688 67 } u_st_data;
garyservin 0:fd24f7ca9688 68 u_st_data.base = 0;
garyservin 0:fd24f7ca9688 69 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 70 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 71 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 72 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 73 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 74 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 75 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 76 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 77 this->st_data = u_st_data.real;
garyservin 0:fd24f7ca9688 78 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 79 memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
garyservin 0:fd24f7ca9688 80 }
garyservin 0:fd24f7ca9688 81 return offset;
garyservin 0:fd24f7ca9688 82 }
garyservin 0:fd24f7ca9688 83
garyservin 0:fd24f7ca9688 84 const char * getType(){ return "std_msgs/Float64MultiArray"; };
garyservin 0:fd24f7ca9688 85 const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
garyservin 0:fd24f7ca9688 86
garyservin 0:fd24f7ca9688 87 };
garyservin 0:fd24f7ca9688 88
garyservin 0:fd24f7ca9688 89 }
garyservin 0:fd24f7ca9688 90 #endif