Diff: sensor_msgs/PointField.h

Revision:

0:77afd7560544

Child:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointField.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,115 @@
+#ifndef ros_PointField_h
+#define ros_PointField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class PointField : public ros::Msg
+  {
+    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 };
+
+    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;
+      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;
+      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;
+      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;
+      offset += sizeof(this->count);
+      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;
+      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;
+      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;
+      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;
+      offset += sizeof(this->count);
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/PointField"; };
+
+  };
+
+}
+#endif
\ No newline at end of file