ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
dynamic_reconfigure/Group.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_dynamic_reconfigure_Group_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_dynamic_reconfigure_Group_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 | #include "dynamic_reconfigure/ParamDescription.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace dynamic_reconfigure |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class Group : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef const char* _name_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _name_type name; |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _type_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _type_type type; |
garyservin | 0:9e9b7db60fd5 | 20 | uint32_t parameters_length; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef dynamic_reconfigure::ParamDescription _parameters_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _parameters_type st_parameters; |
garyservin | 0:9e9b7db60fd5 | 23 | _parameters_type * parameters; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef int32_t _parent_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _parent_type parent; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef int32_t _id_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _id_type id; |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | Group(): |
garyservin | 0:9e9b7db60fd5 | 30 | name(""), |
garyservin | 0:9e9b7db60fd5 | 31 | type(""), |
garyservin | 0:9e9b7db60fd5 | 32 | parameters_length(0), parameters(NULL), |
garyservin | 0:9e9b7db60fd5 | 33 | parent(0), |
garyservin | 0:9e9b7db60fd5 | 34 | id(0) |
garyservin | 0:9e9b7db60fd5 | 35 | { |
garyservin | 0:9e9b7db60fd5 | 36 | } |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 39 | { |
garyservin | 0:9e9b7db60fd5 | 40 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 41 | uint32_t length_name = strlen(this->name); |
garyservin | 0:9e9b7db60fd5 | 42 | varToArr(outbuffer + offset, length_name); |
garyservin | 0:9e9b7db60fd5 | 43 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 44 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:9e9b7db60fd5 | 45 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 46 | uint32_t length_type = strlen(this->type); |
garyservin | 0:9e9b7db60fd5 | 47 | varToArr(outbuffer + offset, length_type); |
garyservin | 0:9e9b7db60fd5 | 48 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 49 | memcpy(outbuffer + offset, this->type, length_type); |
garyservin | 0:9e9b7db60fd5 | 50 | offset += length_type; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 0) = (this->parameters_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 1) = (this->parameters_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 2) = (this->parameters_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 3) = (this->parameters_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | offset += sizeof(this->parameters_length); |
garyservin | 0:9e9b7db60fd5 | 56 | for( uint32_t i = 0; i < parameters_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 57 | offset += this->parameters[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 58 | } |
garyservin | 0:9e9b7db60fd5 | 59 | union { |
garyservin | 0:9e9b7db60fd5 | 60 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 61 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 62 | } u_parent; |
garyservin | 0:9e9b7db60fd5 | 63 | u_parent.real = this->parent; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | offset += sizeof(this->parent); |
garyservin | 0:9e9b7db60fd5 | 69 | union { |
garyservin | 0:9e9b7db60fd5 | 70 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 71 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 72 | } u_id; |
garyservin | 0:9e9b7db60fd5 | 73 | u_id.real = this->id; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 78 | offset += sizeof(this->id); |
garyservin | 0:9e9b7db60fd5 | 79 | return offset; |
garyservin | 0:9e9b7db60fd5 | 80 | } |
garyservin | 0:9e9b7db60fd5 | 81 | |
garyservin | 0:9e9b7db60fd5 | 82 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 83 | { |
garyservin | 0:9e9b7db60fd5 | 84 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 85 | uint32_t length_name; |
garyservin | 0:9e9b7db60fd5 | 86 | arrToVar(length_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 87 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 88 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 89 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 90 | } |
garyservin | 0:9e9b7db60fd5 | 91 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 92 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 93 | offset += length_name; |
garyservin | 0:9e9b7db60fd5 | 94 | uint32_t length_type; |
garyservin | 0:9e9b7db60fd5 | 95 | arrToVar(length_type, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 96 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 97 | for(unsigned int k= offset; k< offset+length_type; ++k){ |
garyservin | 0:9e9b7db60fd5 | 98 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 99 | } |
garyservin | 0:9e9b7db60fd5 | 100 | inbuffer[offset+length_type-1]=0; |
garyservin | 0:9e9b7db60fd5 | 101 | this->type = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 102 | offset += length_type; |
garyservin | 0:9e9b7db60fd5 | 103 | uint32_t parameters_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 104 | parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 105 | parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 106 | parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 107 | offset += sizeof(this->parameters_length); |
garyservin | 0:9e9b7db60fd5 | 108 | if(parameters_lengthT > parameters_length) |
garyservin | 0:9e9b7db60fd5 | 109 | this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription)); |
garyservin | 0:9e9b7db60fd5 | 110 | parameters_length = parameters_lengthT; |
garyservin | 0:9e9b7db60fd5 | 111 | for( uint32_t i = 0; i < parameters_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 112 | offset += this->st_parameters.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 113 | memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription)); |
garyservin | 0:9e9b7db60fd5 | 114 | } |
garyservin | 0:9e9b7db60fd5 | 115 | union { |
garyservin | 0:9e9b7db60fd5 | 116 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 117 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 118 | } u_parent; |
garyservin | 0:9e9b7db60fd5 | 119 | u_parent.base = 0; |
garyservin | 0:9e9b7db60fd5 | 120 | u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 121 | u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 122 | u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 123 | u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 124 | this->parent = u_parent.real; |
garyservin | 0:9e9b7db60fd5 | 125 | offset += sizeof(this->parent); |
garyservin | 0:9e9b7db60fd5 | 126 | union { |
garyservin | 0:9e9b7db60fd5 | 127 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 128 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 129 | } u_id; |
garyservin | 0:9e9b7db60fd5 | 130 | u_id.base = 0; |
garyservin | 0:9e9b7db60fd5 | 131 | u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 132 | u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 133 | u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 134 | u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 135 | this->id = u_id.real; |
garyservin | 0:9e9b7db60fd5 | 136 | offset += sizeof(this->id); |
garyservin | 0:9e9b7db60fd5 | 137 | return offset; |
garyservin | 0:9e9b7db60fd5 | 138 | } |
garyservin | 0:9e9b7db60fd5 | 139 | |
garyservin | 0:9e9b7db60fd5 | 140 | const char * getType(){ return "dynamic_reconfigure/Group"; }; |
garyservin | 0:9e9b7db60fd5 | 141 | const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; }; |
garyservin | 0:9e9b7db60fd5 | 142 | |
garyservin | 0:9e9b7db60fd5 | 143 | }; |
garyservin | 0:9e9b7db60fd5 | 144 | |
garyservin | 0:9e9b7db60fd5 | 145 | } |
garyservin | 0:9e9b7db60fd5 | 146 | #endif |