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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/dynamic_reconfigure/ParamDescription.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_ParamDescription_h
scarter1 0:020db18a476d 2 #define _ROS_dynamic_reconfigure_ParamDescription_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 ParamDescription : 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 const char* _type_type;
scarter1 0:020db18a476d 18 _type_type type;
scarter1 0:020db18a476d 19 typedef uint32_t _level_type;
scarter1 0:020db18a476d 20 _level_type level;
scarter1 0:020db18a476d 21 typedef const char* _description_type;
scarter1 0:020db18a476d 22 _description_type description;
scarter1 0:020db18a476d 23 typedef const char* _edit_method_type;
scarter1 0:020db18a476d 24 _edit_method_type edit_method;
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 ParamDescription():
scarter1 0:020db18a476d 27 name(""),
scarter1 0:020db18a476d 28 type(""),
scarter1 0:020db18a476d 29 level(0),
scarter1 0:020db18a476d 30 description(""),
scarter1 0:020db18a476d 31 edit_method("")
scarter1 0:020db18a476d 32 {
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 int offset = 0;
scarter1 0:020db18a476d 38 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 39 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 40 offset += 4;
scarter1 0:020db18a476d 41 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 42 offset += length_name;
scarter1 0:020db18a476d 43 uint32_t length_type = strlen(this->type);
scarter1 0:020db18a476d 44 varToArr(outbuffer + offset, length_type);
scarter1 0:020db18a476d 45 offset += 4;
scarter1 0:020db18a476d 46 memcpy(outbuffer + offset, this->type, length_type);
scarter1 0:020db18a476d 47 offset += length_type;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 1) = (this->level >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 2) = (this->level >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 3) = (this->level >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 52 offset += sizeof(this->level);
scarter1 0:020db18a476d 53 uint32_t length_description = strlen(this->description);
scarter1 0:020db18a476d 54 varToArr(outbuffer + offset, length_description);
scarter1 0:020db18a476d 55 offset += 4;
scarter1 0:020db18a476d 56 memcpy(outbuffer + offset, this->description, length_description);
scarter1 0:020db18a476d 57 offset += length_description;
scarter1 0:020db18a476d 58 uint32_t length_edit_method = strlen(this->edit_method);
scarter1 0:020db18a476d 59 varToArr(outbuffer + offset, length_edit_method);
scarter1 0:020db18a476d 60 offset += 4;
scarter1 0:020db18a476d 61 memcpy(outbuffer + offset, this->edit_method, length_edit_method);
scarter1 0:020db18a476d 62 offset += length_edit_method;
scarter1 0:020db18a476d 63 return offset;
scarter1 0:020db18a476d 64 }
scarter1 0:020db18a476d 65
scarter1 0:020db18a476d 66 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 int offset = 0;
scarter1 0:020db18a476d 69 uint32_t length_name;
scarter1 0:020db18a476d 70 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 71 offset += 4;
scarter1 0:020db18a476d 72 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 73 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 74 }
scarter1 0:020db18a476d 75 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 76 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 77 offset += length_name;
scarter1 0:020db18a476d 78 uint32_t length_type;
scarter1 0:020db18a476d 79 arrToVar(length_type, (inbuffer + offset));
scarter1 0:020db18a476d 80 offset += 4;
scarter1 0:020db18a476d 81 for(unsigned int k= offset; k< offset+length_type; ++k){
scarter1 0:020db18a476d 82 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 83 }
scarter1 0:020db18a476d 84 inbuffer[offset+length_type-1]=0;
scarter1 0:020db18a476d 85 this->type = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 86 offset += length_type;
scarter1 0:020db18a476d 87 this->level = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 88 this->level |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 89 this->level |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 90 this->level |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 91 offset += sizeof(this->level);
scarter1 0:020db18a476d 92 uint32_t length_description;
scarter1 0:020db18a476d 93 arrToVar(length_description, (inbuffer + offset));
scarter1 0:020db18a476d 94 offset += 4;
scarter1 0:020db18a476d 95 for(unsigned int k= offset; k< offset+length_description; ++k){
scarter1 0:020db18a476d 96 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 97 }
scarter1 0:020db18a476d 98 inbuffer[offset+length_description-1]=0;
scarter1 0:020db18a476d 99 this->description = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 100 offset += length_description;
scarter1 0:020db18a476d 101 uint32_t length_edit_method;
scarter1 0:020db18a476d 102 arrToVar(length_edit_method, (inbuffer + offset));
scarter1 0:020db18a476d 103 offset += 4;
scarter1 0:020db18a476d 104 for(unsigned int k= offset; k< offset+length_edit_method; ++k){
scarter1 0:020db18a476d 105 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 106 }
scarter1 0:020db18a476d 107 inbuffer[offset+length_edit_method-1]=0;
scarter1 0:020db18a476d 108 this->edit_method = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 109 offset += length_edit_method;
scarter1 0:020db18a476d 110 return offset;
scarter1 0:020db18a476d 111 }
scarter1 0:020db18a476d 112
scarter1 0:020db18a476d 113 const char * getType(){ return "dynamic_reconfigure/ParamDescription"; };
scarter1 0:020db18a476d 114 const char * getMD5(){ return "7434fcb9348c13054e0c3b267c8cb34d"; };
scarter1 0:020db18a476d 115
scarter1 0:020db18a476d 116 };
scarter1 0:020db18a476d 117
scarter1 0:020db18a476d 118 }
scarter1 0:020db18a476d 119 #endif