Go to the documentation of this file.00001 #ifndef _ROS_std_msgs_Int16MultiArray_h
00002 #define _ROS_std_msgs_Int16MultiArray_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009
00010 namespace std_msgs
00011 {
00012
00013 class Int16MultiArray : public ros::Msg
00014 {
00015 public:
00016 std_msgs::MultiArrayLayout layout;
00017 uint8_t data_length;
00018 int16_t st_data;
00019 int16_t * data;
00020
00021 virtual int serialize(unsigned char *outbuffer) const
00022 {
00023 int offset = 0;
00024 offset += this->layout.serialize(outbuffer + offset);
00025 *(outbuffer + offset++) = data_length;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 for( uint8_t i = 0; i < data_length; i++){
00030 union {
00031 int16_t real;
00032 uint16_t base;
00033 } u_datai;
00034 u_datai.real = this->data[i];
00035 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00036 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00037 offset += sizeof(this->data[i]);
00038 }
00039 return offset;
00040 }
00041
00042 virtual int deserialize(unsigned char *inbuffer)
00043 {
00044 int offset = 0;
00045 offset += this->layout.deserialize(inbuffer + offset);
00046 uint8_t data_lengthT = *(inbuffer + offset++);
00047 if(data_lengthT > data_length)
00048 this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
00049 offset += 3;
00050 data_length = data_lengthT;
00051 for( uint8_t i = 0; i < data_length; i++){
00052 union {
00053 int16_t real;
00054 uint16_t base;
00055 } u_st_data;
00056 u_st_data.base = 0;
00057 u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
00058 u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00059 this->st_data = u_st_data.real;
00060 offset += sizeof(this->st_data);
00061 memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
00062 }
00063 return offset;
00064 }
00065
00066 const char * getType(){ return "std_msgs/Int16MultiArray"; };
00067 const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
00068
00069 };
00070
00071 }
00072 #endif