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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/dynamic_reconfigure/DoubleParameter.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_dynamic_reconfigure_DoubleParameter_h
scarter1 0:020db18a476d 2 #define _ROS_dynamic_reconfigure_DoubleParameter_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 DoubleParameter : 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 double _value_type;
scarter1 0:020db18a476d 18 _value_type value;
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 DoubleParameter():
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 double real;
scarter1 0:020db18a476d 36 uint64_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 *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 47 offset += sizeof(this->value);
scarter1 0:020db18a476d 48 return offset;
scarter1 0:020db18a476d 49 }
scarter1 0:020db18a476d 50
scarter1 0:020db18a476d 51 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 52 {
scarter1 0:020db18a476d 53 int offset = 0;
scarter1 0:020db18a476d 54 uint32_t length_name;
scarter1 0:020db18a476d 55 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 56 offset += 4;
scarter1 0:020db18a476d 57 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 58 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 59 }
scarter1 0:020db18a476d 60 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 61 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 62 offset += length_name;
scarter1 0:020db18a476d 63 union {
scarter1 0:020db18a476d 64 double real;
scarter1 0:020db18a476d 65 uint64_t base;
scarter1 0:020db18a476d 66 } u_value;
scarter1 0:020db18a476d 67 u_value.base = 0;
scarter1 0:020db18a476d 68 u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 69 u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 70 u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 71 u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 72 u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 73 u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 74 u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 75 u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 76 this->value = u_value.real;
scarter1 0:020db18a476d 77 offset += sizeof(this->value);
scarter1 0:020db18a476d 78 return offset;
scarter1 0:020db18a476d 79 }
scarter1 0:020db18a476d 80
scarter1 0:020db18a476d 81 const char * getType(){ return "dynamic_reconfigure/DoubleParameter"; };
scarter1 0:020db18a476d 82 const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
scarter1 0:020db18a476d 83
scarter1 0:020db18a476d 84 };
scarter1 0:020db18a476d 85
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87 #endif