John Lam / ros_lib_melodic_

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

Dependencies:   BufferedSerial

dynamic_reconfigure/Group.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_dynamic_reconfigure_Group_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_dynamic_reconfigure_Group_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 #include "dynamic_reconfigure/ParamDescription.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace dynamic_reconfigure
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Group : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 17 _name_type name;
Gary Servin 0:04ac6be8229a 18 typedef const char* _type_type;
Gary Servin 0:04ac6be8229a 19 _type_type type;
Gary Servin 0:04ac6be8229a 20 uint32_t parameters_length;
Gary Servin 0:04ac6be8229a 21 typedef dynamic_reconfigure::ParamDescription _parameters_type;
Gary Servin 0:04ac6be8229a 22 _parameters_type st_parameters;
Gary Servin 0:04ac6be8229a 23 _parameters_type * parameters;
Gary Servin 0:04ac6be8229a 24 typedef int32_t _parent_type;
Gary Servin 0:04ac6be8229a 25 _parent_type parent;
Gary Servin 0:04ac6be8229a 26 typedef int32_t _id_type;
Gary Servin 0:04ac6be8229a 27 _id_type id;
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 Group():
Gary Servin 0:04ac6be8229a 30 name(""),
Gary Servin 0:04ac6be8229a 31 type(""),
Gary Servin 0:04ac6be8229a 32 parameters_length(0), parameters(NULL),
Gary Servin 0:04ac6be8229a 33 parent(0),
Gary Servin 0:04ac6be8229a 34 id(0)
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 int offset = 0;
Gary Servin 0:04ac6be8229a 41 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 42 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 43 offset += 4;
Gary Servin 0:04ac6be8229a 44 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 45 offset += length_name;
Gary Servin 0:04ac6be8229a 46 uint32_t length_type = strlen(this->type);
Gary Servin 0:04ac6be8229a 47 varToArr(outbuffer + offset, length_type);
Gary Servin 0:04ac6be8229a 48 offset += 4;
Gary Servin 0:04ac6be8229a 49 memcpy(outbuffer + offset, this->type, length_type);
Gary Servin 0:04ac6be8229a 50 offset += length_type;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 0) = (this->parameters_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 1) = (this->parameters_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 2) = (this->parameters_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 3) = (this->parameters_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->parameters_length);
Gary Servin 0:04ac6be8229a 56 for( uint32_t i = 0; i < parameters_length; i++){
Gary Servin 0:04ac6be8229a 57 offset += this->parameters[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59 union {
Gary Servin 0:04ac6be8229a 60 int32_t real;
Gary Servin 0:04ac6be8229a 61 uint32_t base;
Gary Servin 0:04ac6be8229a 62 } u_parent;
Gary Servin 0:04ac6be8229a 63 u_parent.real = this->parent;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 offset += sizeof(this->parent);
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 int32_t real;
Gary Servin 0:04ac6be8229a 71 uint32_t base;
Gary Servin 0:04ac6be8229a 72 } u_id;
Gary Servin 0:04ac6be8229a 73 u_id.real = this->id;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->id);
Gary Servin 0:04ac6be8229a 79 return offset;
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 83 {
Gary Servin 0:04ac6be8229a 84 int offset = 0;
Gary Servin 0:04ac6be8229a 85 uint32_t length_name;
Gary Servin 0:04ac6be8229a 86 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 87 offset += 4;
Gary Servin 0:04ac6be8229a 88 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 89 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 92 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 93 offset += length_name;
Gary Servin 0:04ac6be8229a 94 uint32_t length_type;
Gary Servin 0:04ac6be8229a 95 arrToVar(length_type, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 96 offset += 4;
Gary Servin 0:04ac6be8229a 97 for(unsigned int k= offset; k< offset+length_type; ++k){
Gary Servin 0:04ac6be8229a 98 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100 inbuffer[offset+length_type-1]=0;
Gary Servin 0:04ac6be8229a 101 this->type = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 102 offset += length_type;
Gary Servin 0:04ac6be8229a 103 uint32_t parameters_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 104 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 105 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 106 parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 107 offset += sizeof(this->parameters_length);
Gary Servin 0:04ac6be8229a 108 if(parameters_lengthT > parameters_length)
Gary Servin 0:04ac6be8229a 109 this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
Gary Servin 0:04ac6be8229a 110 parameters_length = parameters_lengthT;
Gary Servin 0:04ac6be8229a 111 for( uint32_t i = 0; i < parameters_length; i++){
Gary Servin 0:04ac6be8229a 112 offset += this->st_parameters.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 113 memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
Gary Servin 0:04ac6be8229a 114 }
Gary Servin 0:04ac6be8229a 115 union {
Gary Servin 0:04ac6be8229a 116 int32_t real;
Gary Servin 0:04ac6be8229a 117 uint32_t base;
Gary Servin 0:04ac6be8229a 118 } u_parent;
Gary Servin 0:04ac6be8229a 119 u_parent.base = 0;
Gary Servin 0:04ac6be8229a 120 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 121 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 122 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 123 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 124 this->parent = u_parent.real;
Gary Servin 0:04ac6be8229a 125 offset += sizeof(this->parent);
Gary Servin 0:04ac6be8229a 126 union {
Gary Servin 0:04ac6be8229a 127 int32_t real;
Gary Servin 0:04ac6be8229a 128 uint32_t base;
Gary Servin 0:04ac6be8229a 129 } u_id;
Gary Servin 0:04ac6be8229a 130 u_id.base = 0;
Gary Servin 0:04ac6be8229a 131 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 132 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 133 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 134 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 135 this->id = u_id.real;
Gary Servin 0:04ac6be8229a 136 offset += sizeof(this->id);
Gary Servin 0:04ac6be8229a 137 return offset;
Gary Servin 0:04ac6be8229a 138 }
Gary Servin 0:04ac6be8229a 139
Gary Servin 0:04ac6be8229a 140 const char * getType(){ return "dynamic_reconfigure/Group"; };
Gary Servin 0:04ac6be8229a 141 const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
Gary Servin 0:04ac6be8229a 142
Gary Servin 0:04ac6be8229a 143 };
Gary Servin 0:04ac6be8229a 144
Gary Servin 0:04ac6be8229a 145 }
Gary Servin 0:04ac6be8229a 146 #endif