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/ByteMultiArray.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_ByteMultiArray_h
garyservin 0:fd24f7ca9688 2 #define _ROS_std_msgs_ByteMultiArray_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 ByteMultiArray : 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 int8_t st_data;
garyservin 0:fd24f7ca9688 19 int8_t * data;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 ByteMultiArray():
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 int8_t real;
garyservin 0:fd24f7ca9688 38 uint8_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 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 43 }
garyservin 0:fd24f7ca9688 44 return offset;
garyservin 0:fd24f7ca9688 45 }
garyservin 0:fd24f7ca9688 46
garyservin 0:fd24f7ca9688 47 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 48 {
garyservin 0:fd24f7ca9688 49 int offset = 0;
garyservin 0:fd24f7ca9688 50 offset += this->layout.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 51 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 52 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 53 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:fd24f7ca9688 54 offset += 3;
garyservin 0:fd24f7ca9688 55 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 56 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 57 union {
garyservin 0:fd24f7ca9688 58 int8_t real;
garyservin 0:fd24f7ca9688 59 uint8_t base;
garyservin 0:fd24f7ca9688 60 } u_st_data;
garyservin 0:fd24f7ca9688 61 u_st_data.base = 0;
garyservin 0:fd24f7ca9688 62 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 63 this->st_data = u_st_data.real;
garyservin 0:fd24f7ca9688 64 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:fd24f7ca9688 66 }
garyservin 0:fd24f7ca9688 67 return offset;
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69
garyservin 0:fd24f7ca9688 70 const char * getType(){ return "std_msgs/ByteMultiArray"; };
garyservin 0:fd24f7ca9688 71 const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
garyservin 0:fd24f7ca9688 72
garyservin 0:fd24f7ca9688 73 };
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76 #endif