root / quad2 / arduino / src / ros_lib / std_msgs / Float64.h @ c1426757
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#ifndef _ROS_std_msgs_Float64_h
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#define _ROS_std_msgs_Float64_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 std_msgs |
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{ |
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class Float64 : public ros::Msg |
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{ |
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public:
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float data;
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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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int32_t * val_data = (long *) &(this->data);
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int32_t exp_data = (((*val_data)>>23)&255); |
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if(exp_data != 0) |
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exp_data += 1023-127; |
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int32_t sig_data = *val_data; |
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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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*(outbuffer + offset++) = (sig_data<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_data>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_data>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_data>>4) & 0x7F; |
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if(this->data < 0) *(outbuffer + offset -1) |= 0x80; |
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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 * val_data = (uint32_t*) &(this->data); |
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offset += 3;
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*val_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_data !=0) |
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*val_data |= ((exp_data)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data; |
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return offset;
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} |
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const char * getType(){ return "std_msgs/Float64"; }; |
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const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; }; |
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}; |
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} |
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#endif
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