Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/dynamic_reconfigure/IntParameter.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_dynamic_reconfigure_IntParameter_h
scarter1 0:020db18a476d 2 #define _ROS_dynamic_reconfigure_IntParameter_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8
scarter1 0:020db18a476d 9 namespace dynamic_reconfigure
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class IntParameter : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef const char* _name_type;
scarter1 0:020db18a476d 16 _name_type name;
scarter1 0:020db18a476d 17 typedef int32_t _value_type;
scarter1 0:020db18a476d 18 _value_type value;
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 IntParameter():
scarter1 0:020db18a476d 21 name(""),
scarter1 0:020db18a476d 22 value(0)
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 }
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 int offset = 0;
scarter1 0:020db18a476d 29 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 30 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 31 offset += 4;
scarter1 0:020db18a476d 32 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 33 offset += length_name;
scarter1 0:020db18a476d 34 union {
scarter1 0:020db18a476d 35 int32_t real;
scarter1 0:020db18a476d 36 uint32_t base;
scarter1 0:020db18a476d 37 } u_value;
scarter1 0:020db18a476d 38 u_value.real = this->value;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 43 offset += sizeof(this->value);
scarter1 0:020db18a476d 44 return offset;
scarter1 0:020db18a476d 45 }
scarter1 0:020db18a476d 46
scarter1 0:020db18a476d 47 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 48 {
scarter1 0:020db18a476d 49 int offset = 0;
scarter1 0:020db18a476d 50 uint32_t length_name;
scarter1 0:020db18a476d 51 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 52 offset += 4;
scarter1 0:020db18a476d 53 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 54 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 55 }
scarter1 0:020db18a476d 56 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 57 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 58 offset += length_name;
scarter1 0:020db18a476d 59 union {
scarter1 0:020db18a476d 60 int32_t real;
scarter1 0:020db18a476d 61 uint32_t base;
scarter1 0:020db18a476d 62 } u_value;
scarter1 0:020db18a476d 63 u_value.base = 0;
scarter1 0:020db18a476d 64 u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 65 u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 66 u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 67 u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 68 this->value = u_value.real;
scarter1 0:020db18a476d 69 offset += sizeof(this->value);
scarter1 0:020db18a476d 70 return offset;
scarter1 0:020db18a476d 71 }
scarter1 0:020db18a476d 72
scarter1 0:020db18a476d 73 const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
scarter1 0:020db18a476d 74 const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
scarter1 0:020db18a476d 75
scarter1 0:020db18a476d 76 };
scarter1 0:020db18a476d 77
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79 #endif