John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

dynamic_reconfigure/DoubleParameter.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_dynamic_reconfigure_DoubleParameter_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_dynamic_reconfigure_DoubleParameter_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace dynamic_reconfigure
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class DoubleParameter : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 16 _name_type name;
Gary Servin 0:04ac6be8229a 17 typedef double _value_type;
Gary Servin 0:04ac6be8229a 18 _value_type value;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 DoubleParameter():
Gary Servin 0:04ac6be8229a 21 name(""),
Gary Servin 0:04ac6be8229a 22 value(0)
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 }
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 int offset = 0;
Gary Servin 0:04ac6be8229a 29 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 30 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 31 offset += 4;
Gary Servin 0:04ac6be8229a 32 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 33 offset += length_name;
Gary Servin 0:04ac6be8229a 34 union {
Gary Servin 0:04ac6be8229a 35 double real;
Gary Servin 0:04ac6be8229a 36 uint64_t base;
Gary Servin 0:04ac6be8229a 37 } u_value;
Gary Servin 0:04ac6be8229a 38 u_value.real = this->value;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->value);
Gary Servin 0:04ac6be8229a 48 return offset;
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50
Gary Servin 0:04ac6be8229a 51 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 52 {
Gary Servin 0:04ac6be8229a 53 int offset = 0;
Gary Servin 0:04ac6be8229a 54 uint32_t length_name;
Gary Servin 0:04ac6be8229a 55 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 56 offset += 4;
Gary Servin 0:04ac6be8229a 57 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 58 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 61 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 62 offset += length_name;
Gary Servin 0:04ac6be8229a 63 union {
Gary Servin 0:04ac6be8229a 64 double real;
Gary Servin 0:04ac6be8229a 65 uint64_t base;
Gary Servin 0:04ac6be8229a 66 } u_value;
Gary Servin 0:04ac6be8229a 67 u_value.base = 0;
Gary Servin 0:04ac6be8229a 68 u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 69 u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 70 u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 71 u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 72 u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 73 u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 74 u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 75 u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 76 this->value = u_value.real;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->value);
Gary Servin 0:04ac6be8229a 78 return offset;
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80
Gary Servin 0:04ac6be8229a 81 const char * getType(){ return "dynamic_reconfigure/DoubleParameter"; };
Gary Servin 0:04ac6be8229a 82 const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
Gary Servin 0:04ac6be8229a 83
Gary Servin 0:04ac6be8229a 84 };
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 }
Gary Servin 0:04ac6be8229a 87 #endif