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