root / quad2 / arduino / src / ros_lib / std_msgs / Float64.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_std_msgs_Float64_h
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2 | #define _ROS_std_msgs_Float64_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 std_msgs |
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10 | { |
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11 | |||
12 | class Float64 : public ros::Msg |
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13 | { |
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14 | public:
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15 | float data;
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16 | |||
17 | virtual int serialize(unsigned char *outbuffer) const |
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18 | { |
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19 | int offset = 0; |
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20 | int32_t * val_data = (long *) &(this->data);
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21 | int32_t exp_data = (((*val_data)>>23)&255); |
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22 | if(exp_data != 0) |
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23 | exp_data += 1023-127; |
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24 | int32_t sig_data = *val_data; |
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25 | *(outbuffer + offset++) = 0;
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26 | *(outbuffer + offset++) = 0;
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27 | *(outbuffer + offset++) = 0;
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28 | *(outbuffer + offset++) = (sig_data<<5) & 0xff; |
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29 | *(outbuffer + offset++) = (sig_data>>3) & 0xff; |
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30 | *(outbuffer + offset++) = (sig_data>>11) & 0xff; |
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31 | *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F); |
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32 | *(outbuffer + offset++) = (exp_data>>4) & 0x7F; |
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33 | if(this->data < 0) *(outbuffer + offset -1) |= 0x80; |
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34 | return offset;
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35 | } |
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36 | |||
37 | virtual int deserialize(unsigned char *inbuffer) |
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38 | { |
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39 | int offset = 0; |
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40 | uint32_t * val_data = (uint32_t*) &(this->data); |
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41 | offset += 3;
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42 | *val_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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43 | *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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44 | *val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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45 | *val_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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46 | uint32_t exp_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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47 | exp_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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48 | if(exp_data !=0) |
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49 | *val_data |= ((exp_data)-1023+127)<<23; |
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50 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data; |
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51 | return offset;
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52 | } |
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53 | |||
54 | const char * getType(){ return "std_msgs/Float64"; }; |
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55 | const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; }; |
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56 | |||
57 | }; |
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58 | |||
59 | } |
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60 | #endif |