Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

dynamic_reconfigure/DoubleParameter.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_dynamic_reconfigure_DoubleParameter_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_DoubleParameter_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace dynamic_reconfigure
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class DoubleParameter : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef double _value_type;
garyservin 0:9e9b7db60fd5 18 _value_type value;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 DoubleParameter():
garyservin 0:9e9b7db60fd5 21 name(""),
garyservin 0:9e9b7db60fd5 22 value(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 30 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 31 offset += 4;
garyservin 0:9e9b7db60fd5 32 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 33 offset += length_name;
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 double real;
garyservin 0:9e9b7db60fd5 36 uint64_t base;
garyservin 0:9e9b7db60fd5 37 } u_value;
garyservin 0:9e9b7db60fd5 38 u_value.real = this->value;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 48 return offset;
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50
garyservin 0:9e9b7db60fd5 51 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 int offset = 0;
garyservin 0:9e9b7db60fd5 54 uint32_t length_name;
garyservin 0:9e9b7db60fd5 55 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 56 offset += 4;
garyservin 0:9e9b7db60fd5 57 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 58 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 61 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 62 offset += length_name;
garyservin 0:9e9b7db60fd5 63 union {
garyservin 0:9e9b7db60fd5 64 double real;
garyservin 0:9e9b7db60fd5 65 uint64_t base;
garyservin 0:9e9b7db60fd5 66 } u_value;
garyservin 0:9e9b7db60fd5 67 u_value.base = 0;
garyservin 0:9e9b7db60fd5 68 u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 69 u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 73 u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 74 u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 75 u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 76 this->value = u_value.real;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 const char * getType(){ return "dynamic_reconfigure/DoubleParameter"; };
garyservin 0:9e9b7db60fd5 82 const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 #endif