Diff: std_msgs/Float64MultiArray.h

Revision:

1:ff0ec969dad1

Parent:

0:77afd7560544

Child:

3:1cf99502f396

--- a/std_msgs/Float64MultiArray.h	Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Float64MultiArray.h	Sun Oct 16 07:19:36 2011 +0000
@@ -7,73 +7,135 @@
 #include "../ros/msg.h"
 #include "std_msgs/MultiArrayLayout.h"
 
-namespace std_msgs
-{
+namespace std_msgs {
 
-  class Float64MultiArray : public ros::Msg
-  {
-    public:
-      std_msgs::MultiArrayLayout layout;
-      unsigned char data_length;
-      float st_data;
-      float * data;
+class Float64MultiArray : public ros::Msg {
+public:
+    std_msgs::MultiArrayLayout layout;
+    unsigned char data_length;
+    double st_data;
+    double * data;
 
-    virtual int serialize(unsigned char *outbuffer)
-    {
-      int offset = 0;
-      offset += this->layout.serialize(outbuffer + offset);
-      *(outbuffer + offset++) = data_length;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      for( unsigned char i = 0; i < data_length; i++){
-      long * val_datai = (long *) &(this->data[i]);
-      long exp_datai = (((*val_datai)>>23)&255);
-      if(exp_datai != 0)
-        exp_datai += 1023-127;
-      long sig_datai = *val_datai;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
-      *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
-      *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
-      *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
-      *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
-      if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
-      }
-      return offset;
+    virtual int serialize(unsigned char *outbuffer) {
+        int offset = 0;
+        offset += this->layout.serialize(outbuffer + offset);
+        *(outbuffer + offset++) = data_length;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        for ( unsigned char i = 0; i < data_length; i++) {
+            union {
+                double real;
+                uint64_t base;
+            } u_datai;
+            u_datai.real = this->data[i];
+            *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+            *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+            *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+            *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+            *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+            *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+            *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+            *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+            offset += sizeof(this->data[i]);
+        }
+        return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer) {
+        int offset = 0;
+        offset += this->layout.deserialize(inbuffer + offset);
+        unsigned char data_lengthT = *(inbuffer + offset++);
+        if (data_lengthT > data_length)
+            this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
+        offset += 3;
+        data_length = data_lengthT;
+        for ( unsigned char i = 0; i < data_length; i++) {
+            union {
+                double real;
+                uint64_t base;
+            } u_st_data;
+            u_st_data.base = 0;
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+            u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+            this->st_data = u_st_data.real;
+            offset += sizeof(this->st_data);
+            memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
+        }
+        return offset;
     }
 
-    virtual int deserialize(unsigned char *inbuffer)
-    {
-      int offset = 0;
-      offset += this->layout.deserialize(inbuffer + offset);
-      unsigned char data_lengthT = *(inbuffer + offset++);
-      if(data_lengthT > data_length)
-        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
-      offset += 3;
-      data_length = data_lengthT;
-      for( unsigned char i = 0; i < data_length; i++){
-      unsigned long * val_st_data = (unsigned long*) &(this->st_data);
-      offset += 3;
-      *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
-      if(exp_st_data !=0)
-        *val_st_data |= ((exp_st_data)-1023+127)<<23;
-      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
-        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+    /*
+      public:
+        std_msgs::MultiArrayLayout layout;
+        unsigned char data_length;
+        float st_data;
+        float * data;
+
+      virtual int serialize(unsigned char *outbuffer)
+      {
+        int offset = 0;
+        offset += this->layout.serialize(outbuffer + offset);
+        *(outbuffer + offset++) = data_length;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        for( unsigned char i = 0; i < data_length; i++){
+        long * val_datai = (long *) &(this->data[i]);
+        long exp_datai = (((*val_datai)>>23)&255);
+        if(exp_datai != 0)
+          exp_datai += 1023-127;
+        long sig_datai = *val_datai;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = 0;
+        *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
+        *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
+        *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
+        *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
+        *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
+        if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
+        }
+        return offset;
       }
-     return offset;
-    }
 
-   virtual const char * getType(){ return "std_msgs/Float64MultiArray"; };
+      virtual int deserialize(unsigned char *inbuffer)
+      {
+        int offset = 0;
+        offset += this->layout.deserialize(inbuffer + offset);
+        unsigned char data_lengthT = *(inbuffer + offset++);
+        if(data_lengthT > data_length)
+          this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+        offset += 3;
+        data_length = data_lengthT;
+        for( unsigned char i = 0; i < data_length; i++){
+        unsigned long * val_st_data = (unsigned long*) &(this->st_data);
+        offset += 3;
+        *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+        *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+        *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+        *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+        unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+        exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+        if(exp_st_data !=0)
+          *val_st_data |= ((exp_st_data)-1023+127)<<23;
+        if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
+          memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+        }
+       return offset;
+      }
+    */
+    virtual const char * getType() {
+        return "std_msgs/Float64MultiArray";
+    };
 
-  };
+};
 
 }
 #endif
\ No newline at end of file