root / quad2 / arduino / src / ros_lib / sensor_msgs / PointField.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_sensor_msgs_PointField_h
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2 | #define _ROS_sensor_msgs_PointField_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | |||
9 | namespace sensor_msgs |
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10 | { |
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11 | |||
12 | class PointField : public ros::Msg |
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13 | { |
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14 | public:
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15 | char * name;
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16 | uint32_t offset; |
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17 | uint8_t datatype; |
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18 | uint32_t count; |
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19 | enum { INT8 = 1 }; |
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20 | enum { UINT8 = 2 }; |
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21 | enum { INT16 = 3 }; |
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22 | enum { UINT16 = 4 }; |
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23 | enum { INT32 = 5 }; |
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24 | enum { UINT32 = 6 }; |
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25 | enum { FLOAT32 = 7 }; |
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26 | enum { FLOAT64 = 8 }; |
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27 | |||
28 | virtual int serialize(unsigned char *outbuffer) const |
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29 | { |
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30 | int offset = 0; |
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31 | uint32_t * length_name = (uint32_t *)(outbuffer + offset); |
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32 | *length_name = strlen( (const char*) this->name); |
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33 | offset += 4;
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34 | memcpy(outbuffer + offset, this->name, *length_name); |
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35 | offset += *length_name; |
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36 | *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF; |
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37 | *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF; |
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38 | *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF; |
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39 | *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF; |
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40 | offset += sizeof(this->offset);
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41 | *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF; |
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42 | offset += sizeof(this->datatype);
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43 | *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF; |
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44 | *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF; |
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45 | *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF; |
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46 | *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF; |
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47 | offset += sizeof(this->count);
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48 | return offset;
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49 | } |
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50 | |||
51 | virtual int deserialize(unsigned char *inbuffer) |
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52 | { |
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53 | int offset = 0; |
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54 | uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
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55 | offset += 4;
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56 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
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57 | inbuffer[k-1]=inbuffer[k];
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58 | } |
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59 | inbuffer[offset+length_name-1]=0; |
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60 | this->name = (char *)(inbuffer + offset-1); |
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61 | offset += length_name; |
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62 | this->offset |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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63 | this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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64 | this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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65 | this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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66 | offset += sizeof(this->offset);
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67 | this->datatype |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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68 | offset += sizeof(this->datatype);
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69 | this->count |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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70 | this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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71 | this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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72 | this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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73 | offset += sizeof(this->count);
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74 | return offset;
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75 | } |
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76 | |||
77 | const char * getType(){ return "sensor_msgs/PointField"; }; |
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78 | const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; }; |
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79 | |||
80 | }; |
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81 | |||
82 | } |
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83 | #endif |