Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

dynamic_reconfigure/Group.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_dynamic_reconfigure_Group_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_dynamic_reconfigure_Group_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "dynamic_reconfigure/ParamDescription.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace dynamic_reconfigure
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class Group : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 const char* name;
akashvibhute 0:30537dec6e0b 17 const char* type;
akashvibhute 0:30537dec6e0b 18 uint8_t parameters_length;
akashvibhute 0:30537dec6e0b 19 dynamic_reconfigure::ParamDescription st_parameters;
akashvibhute 0:30537dec6e0b 20 dynamic_reconfigure::ParamDescription * parameters;
akashvibhute 0:30537dec6e0b 21 int32_t parent;
akashvibhute 0:30537dec6e0b 22 int32_t id;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 Group():
akashvibhute 0:30537dec6e0b 25 name(""),
akashvibhute 0:30537dec6e0b 26 type(""),
akashvibhute 0:30537dec6e0b 27 parameters_length(0), parameters(NULL),
akashvibhute 0:30537dec6e0b 28 parent(0),
akashvibhute 0:30537dec6e0b 29 id(0)
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 37 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 38 offset += 4;
akashvibhute 0:30537dec6e0b 39 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 40 offset += length_name;
akashvibhute 0:30537dec6e0b 41 uint32_t length_type = strlen(this->type);
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 43 offset += 4;
akashvibhute 0:30537dec6e0b 44 memcpy(outbuffer + offset, this->type, length_type);
akashvibhute 0:30537dec6e0b 45 offset += length_type;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = parameters_length;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 for( uint8_t i = 0; i < parameters_length; i++){
akashvibhute 0:30537dec6e0b 51 offset += this->parameters[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 52 }
akashvibhute 0:30537dec6e0b 53 union {
akashvibhute 0:30537dec6e0b 54 int32_t real;
akashvibhute 0:30537dec6e0b 55 uint32_t base;
akashvibhute 0:30537dec6e0b 56 } u_parent;
akashvibhute 0:30537dec6e0b 57 u_parent.real = this->parent;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 offset += sizeof(this->parent);
akashvibhute 0:30537dec6e0b 63 union {
akashvibhute 0:30537dec6e0b 64 int32_t real;
akashvibhute 0:30537dec6e0b 65 uint32_t base;
akashvibhute 0:30537dec6e0b 66 } u_id;
akashvibhute 0:30537dec6e0b 67 u_id.real = this->id;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 72 offset += sizeof(this->id);
akashvibhute 0:30537dec6e0b 73 return offset;
akashvibhute 0:30537dec6e0b 74 }
akashvibhute 0:30537dec6e0b 75
akashvibhute 0:30537dec6e0b 76 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 77 {
akashvibhute 0:30537dec6e0b 78 int offset = 0;
akashvibhute 0:30537dec6e0b 79 uint32_t length_name;
akashvibhute 0:30537dec6e0b 80 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 81 offset += 4;
akashvibhute 0:30537dec6e0b 82 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 83 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 86 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 87 offset += length_name;
akashvibhute 0:30537dec6e0b 88 uint32_t length_type;
akashvibhute 0:30537dec6e0b 89 memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 90 offset += 4;
akashvibhute 0:30537dec6e0b 91 for(unsigned int k= offset; k< offset+length_type; ++k){
akashvibhute 0:30537dec6e0b 92 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 93 }
akashvibhute 0:30537dec6e0b 94 inbuffer[offset+length_type-1]=0;
akashvibhute 0:30537dec6e0b 95 this->type = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 96 offset += length_type;
akashvibhute 0:30537dec6e0b 97 uint8_t parameters_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 98 if(parameters_lengthT > parameters_length)
akashvibhute 0:30537dec6e0b 99 this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
akashvibhute 0:30537dec6e0b 100 offset += 3;
akashvibhute 0:30537dec6e0b 101 parameters_length = parameters_lengthT;
akashvibhute 0:30537dec6e0b 102 for( uint8_t i = 0; i < parameters_length; i++){
akashvibhute 0:30537dec6e0b 103 offset += this->st_parameters.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 104 memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 union {
akashvibhute 0:30537dec6e0b 107 int32_t real;
akashvibhute 0:30537dec6e0b 108 uint32_t base;
akashvibhute 0:30537dec6e0b 109 } u_parent;
akashvibhute 0:30537dec6e0b 110 u_parent.base = 0;
akashvibhute 0:30537dec6e0b 111 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 112 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 113 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 114 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 115 this->parent = u_parent.real;
akashvibhute 0:30537dec6e0b 116 offset += sizeof(this->parent);
akashvibhute 0:30537dec6e0b 117 union {
akashvibhute 0:30537dec6e0b 118 int32_t real;
akashvibhute 0:30537dec6e0b 119 uint32_t base;
akashvibhute 0:30537dec6e0b 120 } u_id;
akashvibhute 0:30537dec6e0b 121 u_id.base = 0;
akashvibhute 0:30537dec6e0b 122 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 123 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 124 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 125 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 126 this->id = u_id.real;
akashvibhute 0:30537dec6e0b 127 offset += sizeof(this->id);
akashvibhute 0:30537dec6e0b 128 return offset;
akashvibhute 0:30537dec6e0b 129 }
akashvibhute 0:30537dec6e0b 130
akashvibhute 0:30537dec6e0b 131 const char * getType(){ return "dynamic_reconfigure/Group"; };
akashvibhute 0:30537dec6e0b 132 const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
akashvibhute 0:30537dec6e0b 133
akashvibhute 0:30537dec6e0b 134 };
akashvibhute 0:30537dec6e0b 135
akashvibhute 0:30537dec6e0b 136 }
akashvibhute 0:30537dec6e0b 137 #endif