a
dynamic_reconfigure/DoubleParameter.h@3:a70f39eabe9a, 2019-07-05 (annotated)
- Committer:
- JesiMiranda
- Date:
- Fri Jul 05 19:39:06 2019 +0000
- Revision:
- 3:a70f39eabe9a
- Parent:
- 0:9e9b7db60fd5
no changes;
Who changed what in which revision?
User | Revision | Line number | New 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 |