Quadrotor

#ifndef _ROS_sensor_msgs_ChannelFloat32_h

#define _ROS_sensor_msgs_ChannelFloat32_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

namespace sensor_msgs

{

  class ChannelFloat32 : public ros::Msg

  {

    public:

      char * name;

      uint8_t values_length;

      float st_values;

      float * values;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      uint32_t * length_name = (uint32_t *)(outbuffer + offset);

      *length_name = strlen( (const char*) this->name);

      offset += 4;

      memcpy(outbuffer + offset, this->name, *length_name);

      offset += *length_name;

      *(outbuffer + offset++) = values_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < values_length; i++){

      union {

        float real;

        uint32_t base;

      } u_valuesi;

      u_valuesi.real = this->values[i];

      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->values[i]);

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      uint32_t length_name = *(uint32_t *)(inbuffer + offset);

      offset += 4;

      for(unsigned int k= offset; k< offset+length_name; ++k){

          inbuffer[k-1]=inbuffer[k];

      }

      inbuffer[offset+length_name-1]=0;

      this->name = (char *)(inbuffer + offset-1);

      offset += length_name;

      uint8_t values_lengthT = *(inbuffer + offset++);

      if(values_lengthT > values_length)

        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));

      offset += 3;

      values_length = values_lengthT;

      for( uint8_t i = 0; i < values_length; i++){

      union {

        float real;

        uint32_t base;

      } u_st_values;

      u_st_values.base = 0;

      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->st_values = u_st_values.real;

      offset += sizeof(this->st_values);

        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));

      }

     return offset;

    }

    const char * getType(){ return "sensor_msgs/ChannelFloat32"; };

    const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };

  };

}

#endif