Quadrotor

#ifndef _ROS_sensor_msgs_JointState_h

#define _ROS_sensor_msgs_JointState_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/Header.h"

namespace sensor_msgs

{

  class JointState : public ros::Msg

  {

    public:

      std_msgs::Header header;

      uint8_t name_length;

      char* st_name;

      char* * name;

      uint8_t position_length;

      float st_position;

      float * position;

      uint8_t velocity_length;

      float st_velocity;

      float * velocity;

      uint8_t effort_length;

      float st_effort;

      float * effort;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->header.serialize(outbuffer + offset);

      *(outbuffer + offset++) = name_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

      *length_namei = strlen( (const char*) this->name[i]);

      offset += 4;

      memcpy(outbuffer + offset, this->name[i], *length_namei);

      offset += *length_namei;

      }

      *(outbuffer + offset++) = position_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

      int32_t * val_positioni = (long *) &(this->position[i]);

      int32_t exp_positioni = (((*val_positioni)>>23)&255);

      if(exp_positioni != 0)

        exp_positioni += 1023-127;

      int32_t sig_positioni = *val_positioni;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_positioni<<5) & 0xff;

      *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;

      *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);

      *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;

      if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      *(outbuffer + offset++) = velocity_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

      int32_t * val_velocityi = (long *) &(this->velocity[i]);

      int32_t exp_velocityi = (((*val_velocityi)>>23)&255);

      if(exp_velocityi != 0)

        exp_velocityi += 1023-127;

      int32_t sig_velocityi = *val_velocityi;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;

      *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;

      *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);

      *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;

      if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      *(outbuffer + offset++) = effort_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

      int32_t * val_efforti = (long *) &(this->effort[i]);

      int32_t exp_efforti = (((*val_efforti)>>23)&255);

      if(exp_efforti != 0)

        exp_efforti += 1023-127;

      int32_t sig_efforti = *val_efforti;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;

      *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;

      *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);

      *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;

      if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->header.deserialize(inbuffer + offset);

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

      if(name_lengthT > name_length)

        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));

      offset += 3;

      name_length = name_lengthT;

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

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

      offset += 4;

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

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

      }

      inbuffer[offset+length_st_name-1]=0;

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

      offset += length_st_name;

        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));

      }

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

      if(position_lengthT > position_length)

        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));

      offset += 3;

      position_length = position_lengthT;

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

      uint32_t * val_st_position = (uint32_t*) &(this->st_position);

      offset += 3;

      *val_st_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_st_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_st_position !=0)

        *val_st_position |= ((exp_st_position)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;

        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));

      }

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

      if(velocity_lengthT > velocity_length)

        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));

      offset += 3;

      velocity_length = velocity_lengthT;

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

      uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity);

      offset += 3;

      *val_st_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_st_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_st_velocity !=0)

        *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;

        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));

      }

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

      if(effort_lengthT > effort_length)

        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));

      offset += 3;

      effort_length = effort_lengthT;

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

      uint32_t * val_st_effort = (uint32_t*) &(this->st_effort);

      offset += 3;

      *val_st_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_st_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_st_effort !=0)

        *val_st_effort |= ((exp_st_effort)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;

        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));

      }

     return offset;

    }

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

    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };

  };

}

#endif