root / quad2 / arduino / src / ros_lib / sensor_msgs / ChannelFloat32.h @ c1426757
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#ifndef _ROS_sensor_msgs_ChannelFloat32_h
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#define _ROS_sensor_msgs_ChannelFloat32_h
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#include <stdint.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include "ros/msg.h" |
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namespace sensor_msgs |
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{ |
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class ChannelFloat32 : public ros::Msg |
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{ |
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public:
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char * name;
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uint8_t values_length; |
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float st_values;
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float * values;
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virtual int serialize(unsigned char *outbuffer) const |
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{ |
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int offset = 0; |
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uint32_t * length_name = (uint32_t *)(outbuffer + offset); |
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*length_name = strlen( (const char*) this->name); |
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offset += 4;
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memcpy(outbuffer + offset, this->name, *length_name); |
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offset += *length_name; |
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*(outbuffer + offset++) = values_length; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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for( uint8_t i = 0; i < values_length; i++){ |
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union {
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float real;
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uint32_t base; |
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} u_valuesi; |
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u_valuesi.real = this->values[i]; |
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*(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; |
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*(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; |
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*(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; |
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*(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; |
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offset += sizeof(this->values[i]);
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} |
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return offset;
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} |
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virtual int deserialize(unsigned char *inbuffer) |
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{ |
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int offset = 0; |
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uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
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offset += 4;
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for(unsigned int k= offset; k< offset+length_name; ++k){ |
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inbuffer[k-1]=inbuffer[k];
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} |
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inbuffer[offset+length_name-1]=0; |
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this->name = (char *)(inbuffer + offset-1); |
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offset += length_name; |
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uint8_t values_lengthT = *(inbuffer + offset++); |
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if(values_lengthT > values_length)
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this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); |
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offset += 3;
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values_length = values_lengthT; |
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for( uint8_t i = 0; i < values_length; i++){ |
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union {
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float real;
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uint32_t base; |
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} u_st_values; |
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u_st_values.base = 0;
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u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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this->st_values = u_st_values.real; |
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offset += sizeof(this->st_values);
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memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); |
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} |
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return offset;
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} |
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const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; |
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const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; |
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}; |
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} |
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#endif
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