Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/dynamic_reconfigure/Group.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_Group_h
scarter1 0:020db18a476d 2 #define _ROS_dynamic_reconfigure_Group_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 #include "dynamic_reconfigure/ParamDescription.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace dynamic_reconfigure
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class Group : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef const char* _name_type;
scarter1 0:020db18a476d 17 _name_type name;
scarter1 0:020db18a476d 18 typedef const char* _type_type;
scarter1 0:020db18a476d 19 _type_type type;
scarter1 0:020db18a476d 20 uint32_t parameters_length;
scarter1 0:020db18a476d 21 typedef dynamic_reconfigure::ParamDescription _parameters_type;
scarter1 0:020db18a476d 22 _parameters_type st_parameters;
scarter1 0:020db18a476d 23 _parameters_type * parameters;
scarter1 0:020db18a476d 24 typedef int32_t _parent_type;
scarter1 0:020db18a476d 25 _parent_type parent;
scarter1 0:020db18a476d 26 typedef int32_t _id_type;
scarter1 0:020db18a476d 27 _id_type id;
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 Group():
scarter1 0:020db18a476d 30 name(""),
scarter1 0:020db18a476d 31 type(""),
scarter1 0:020db18a476d 32 parameters_length(0), parameters(NULL),
scarter1 0:020db18a476d 33 parent(0),
scarter1 0:020db18a476d 34 id(0)
scarter1 0:020db18a476d 35 {
scarter1 0:020db18a476d 36 }
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 39 {
scarter1 0:020db18a476d 40 int offset = 0;
scarter1 0:020db18a476d 41 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 42 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 43 offset += 4;
scarter1 0:020db18a476d 44 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 45 offset += length_name;
scarter1 0:020db18a476d 46 uint32_t length_type = strlen(this->type);
scarter1 0:020db18a476d 47 varToArr(outbuffer + offset, length_type);
scarter1 0:020db18a476d 48 offset += 4;
scarter1 0:020db18a476d 49 memcpy(outbuffer + offset, this->type, length_type);
scarter1 0:020db18a476d 50 offset += length_type;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 0) = (this->parameters_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 52 *(outbuffer + offset + 1) = (this->parameters_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 2) = (this->parameters_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 3) = (this->parameters_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 55 offset += sizeof(this->parameters_length);
scarter1 0:020db18a476d 56 for( uint32_t i = 0; i < parameters_length; i++){
scarter1 0:020db18a476d 57 offset += this->parameters[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 58 }
scarter1 0:020db18a476d 59 union {
scarter1 0:020db18a476d 60 int32_t real;
scarter1 0:020db18a476d 61 uint32_t base;
scarter1 0:020db18a476d 62 } u_parent;
scarter1 0:020db18a476d 63 u_parent.real = this->parent;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 67 *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 68 offset += sizeof(this->parent);
scarter1 0:020db18a476d 69 union {
scarter1 0:020db18a476d 70 int32_t real;
scarter1 0:020db18a476d 71 uint32_t base;
scarter1 0:020db18a476d 72 } u_id;
scarter1 0:020db18a476d 73 u_id.real = this->id;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 78 offset += sizeof(this->id);
scarter1 0:020db18a476d 79 return offset;
scarter1 0:020db18a476d 80 }
scarter1 0:020db18a476d 81
scarter1 0:020db18a476d 82 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 83 {
scarter1 0:020db18a476d 84 int offset = 0;
scarter1 0:020db18a476d 85 uint32_t length_name;
scarter1 0:020db18a476d 86 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 87 offset += 4;
scarter1 0:020db18a476d 88 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 89 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 92 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 93 offset += length_name;
scarter1 0:020db18a476d 94 uint32_t length_type;
scarter1 0:020db18a476d 95 arrToVar(length_type, (inbuffer + offset));
scarter1 0:020db18a476d 96 offset += 4;
scarter1 0:020db18a476d 97 for(unsigned int k= offset; k< offset+length_type; ++k){
scarter1 0:020db18a476d 98 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 99 }
scarter1 0:020db18a476d 100 inbuffer[offset+length_type-1]=0;
scarter1 0:020db18a476d 101 this->type = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 102 offset += length_type;
scarter1 0:020db18a476d 103 uint32_t parameters_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 104 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 105 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 106 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 107 offset += sizeof(this->parameters_length);
scarter1 0:020db18a476d 108 if(parameters_lengthT > parameters_length)
scarter1 0:020db18a476d 109 this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
scarter1 0:020db18a476d 110 parameters_length = parameters_lengthT;
scarter1 0:020db18a476d 111 for( uint32_t i = 0; i < parameters_length; i++){
scarter1 0:020db18a476d 112 offset += this->st_parameters.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 113 memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
scarter1 0:020db18a476d 114 }
scarter1 0:020db18a476d 115 union {
scarter1 0:020db18a476d 116 int32_t real;
scarter1 0:020db18a476d 117 uint32_t base;
scarter1 0:020db18a476d 118 } u_parent;
scarter1 0:020db18a476d 119 u_parent.base = 0;
scarter1 0:020db18a476d 120 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 121 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 122 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 123 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 124 this->parent = u_parent.real;
scarter1 0:020db18a476d 125 offset += sizeof(this->parent);
scarter1 0:020db18a476d 126 union {
scarter1 0:020db18a476d 127 int32_t real;
scarter1 0:020db18a476d 128 uint32_t base;
scarter1 0:020db18a476d 129 } u_id;
scarter1 0:020db18a476d 130 u_id.base = 0;
scarter1 0:020db18a476d 131 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 132 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 133 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 134 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 135 this->id = u_id.real;
scarter1 0:020db18a476d 136 offset += sizeof(this->id);
scarter1 0:020db18a476d 137 return offset;
scarter1 0:020db18a476d 138 }
scarter1 0:020db18a476d 139
scarter1 0:020db18a476d 140 const char * getType(){ return "dynamic_reconfigure/Group"; };
scarter1 0:020db18a476d 141 const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
scarter1 0:020db18a476d 142
scarter1 0:020db18a476d 143 };
scarter1 0:020db18a476d 144
scarter1 0:020db18a476d 145 }
scarter1 0:020db18a476d 146 #endif