00001 #ifndef _ROS_std_msgs_Int32MultiArray_h 00002 #define _ROS_std_msgs_Int32MultiArray_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 Int32MultiArray : public ros::Msg 00014 { 00015 public: 00016 std_msgs::MultiArrayLayout layout; 00017 uint8_t data_length; 00018 int32_t st_data; 00019 int32_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 int32_t real; 00032 uint32_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 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; 00038 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; 00039 offset += sizeof(this->data[i]); 00040 } 00041 return offset; 00042 } 00043 00044 virtual int deserialize(unsigned char *inbuffer) 00045 { 00046 int offset = 0; 00047 offset += this->layout.deserialize(inbuffer + offset); 00048 uint8_t data_lengthT = *(inbuffer + offset++); 00049 if(data_lengthT > data_length) 00050 this->data = (int32_t*)realloc(this->data, data_lengthT * sizeof(int32_t)); 00051 offset += 3; 00052 data_length = data_lengthT; 00053 for( uint8_t i = 0; i < data_length; i++){ 00054 union { 00055 int32_t real; 00056 uint32_t base; 00057 } u_st_data; 00058 u_st_data.base = 0; 00059 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00060 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00061 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00062 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00063 this->st_data = u_st_data.real; 00064 offset += sizeof(this->st_data); 00065 memcpy( &(this->data[i]), &(this->st_data), sizeof(int32_t)); 00066 } 00067 return offset; 00068 } 00069 00070 const char * getType(){ return "std_msgs/Int32MultiArray"; }; 00071 const char * getMD5(){ return "1d99f79f8b325b44fee908053e9c945b"; }; 00072 00073 }; 00074 00075 } 00076 #endif