Diff: sensor_msgs/PointField.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/sensor_msgs/PointField.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/sensor_msgs/PointField.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_PointField_h
-#define ros_PointField_h
+#ifndef _ROS_sensor_msgs_PointField_h
+#define _ROS_sensor_msgs_PointField_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 
 namespace sensor_msgs
 {
@@ -13,52 +13,37 @@
   {
     public:
       char * name;
-      unsigned long offset;
-      unsigned char datatype;
-      unsigned long count;
-      enum { INT8 = 1 };
-      enum { UINT8 = 2 };
-      enum { INT16 = 3 };
-      enum { UINT16 = 4 };
-      enum { INT32 = 5 };
-      enum { UINT32 = 6 };
-      enum { FLOAT32 = 7 };
-      enum { FLOAT64 = 8 };
+      uint32_t offset;
+      uint8_t datatype;
+      uint32_t count;
+      enum { INT8 =  1 };
+      enum { UINT8 =  2 };
+      enum { INT16 =  3 };
+      enum { UINT16 =  4 };
+      enum { INT32 =  5 };
+      enum { UINT32 =  6 };
+      enum { FLOAT32 =  7 };
+      enum { FLOAT64 =  8 };
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
-      long * length_name = (long *)(outbuffer + offset);
+      uint32_t * length_name = (uint32_t *)(outbuffer + offset);
       *length_name = strlen( (const char*) this->name);
       offset += 4;
       memcpy(outbuffer + offset, this->name, *length_name);
       offset += *length_name;
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_offset;
-      u_offset.real = this->offset;
-      *(outbuffer + offset + 0) = (u_offset.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_offset.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_offset.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_offset.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
       offset += sizeof(this->offset);
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_datatype;
-      u_datatype.real = this->datatype;
-      *(outbuffer + offset + 0) = (u_datatype.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
       offset += sizeof(this->datatype);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_count;
-      u_count.real = this->count;
-      *(outbuffer + offset + 0) = (u_count.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_count.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_count.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_count.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
       offset += sizeof(this->count);
       return offset;
     }
@@ -70,44 +55,27 @@
       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;
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_offset;
-      u_offset.base = 0;
-      u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->offset = u_offset.real;
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->offset);
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_datatype;
-      u_datatype.base = 0;
-      u_datatype.base |= ((typeof(u_datatype.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      this->datatype = u_datatype.real;
+      this->datatype |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
       offset += sizeof(this->datatype);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_count;
-      u_count.base = 0;
-      u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->count = u_count.real;
+      this->count |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->count);
      return offset;
     }
 
-   virtual const char * getType(){ return "sensor_msgs/PointField"; };
+    virtual const char * getType(){ return "sensor_msgs/PointField"; };
+    virtual const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
 
   };