Seokyong Song / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

dynamic_reconfigure/Group.h@2:65cba0dcf634, 2022-01-27 (annotated)

Committer:
gosari
Date:
Thu Jan 27 11:36:16 2022 +0000
Revision:
2:65cba0dcf634
Parent:
0:9e9b7db60fd5 
for message communication with mbed

Who changed what in which revision?

UserRevisionLine numberNew 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