Diff: sensor_msgs/ChannelFloat32.h

Revision:

0:06fc856e99ca

Child:

3:dff241b66f84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/ChannelFloat32.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,85 @@
+#ifndef ros_ChannelFloat32_h
+#define ros_ChannelFloat32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class ChannelFloat32 : public ros::Msg
+  {
+    public:
+      char * name;
+      unsigned char values_length;
+      float st_values;
+      float * values;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      long * length_name = (long *)(outbuffer + offset);
+      *length_name = strlen( (const char*) this->name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, *length_name);
+      offset += *length_name;
+      *(outbuffer + offset++) = values_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < values_length; i++){
+      union {
+        float real;
+        unsigned long base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      unsigned char values_lengthT = *(inbuffer + offset++);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      offset += 3;
+      values_length = values_lengthT;
+      for( unsigned char i = 0; i < values_length; i++){
+      union {
+        float real;
+        unsigned long base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
+
+  };
+
+}
+#endif
\ No newline at end of file