ozgur erbulan / ros_kinetic

added 1 custom message

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

dynamic_reconfigure/IntParameter.h@2:af816ffd33df, 2017-05-19 (annotated)

Committer:
randalthor
Date:
Fri May 19 08:59:12 2017 +0000
Revision:
2:af816ffd33df
Parent:
0:9e9b7db60fd5 
custom message mobile robot added for ITU cyber physical lab

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_dynamic_reconfigure_IntParameter_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_IntParameter_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
garyservin 0:9e9b7db60fd5 9 namespace dynamic_reconfigure
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class IntParameter : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef int32_t _value_type;
garyservin 0:9e9b7db60fd5 18 _value_type value;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 IntParameter():
garyservin 0:9e9b7db60fd5 21 name(""),
garyservin 0:9e9b7db60fd5 22 value(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 30 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 31 offset += 4;
garyservin 0:9e9b7db60fd5 32 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 33 offset += length_name;
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 int32_t real;
garyservin 0:9e9b7db60fd5 36 uint32_t base;
garyservin 0:9e9b7db60fd5 37 } u_value;
garyservin 0:9e9b7db60fd5 38 u_value.real = this->value;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 44 return offset;
garyservin 0:9e9b7db60fd5 45 }
garyservin 0:9e9b7db60fd5 46
garyservin 0:9e9b7db60fd5 47 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 int offset = 0;
garyservin 0:9e9b7db60fd5 50 uint32_t length_name;
garyservin 0:9e9b7db60fd5 51 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 52 offset += 4;
garyservin 0:9e9b7db60fd5 53 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 54 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 57 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 58 offset += length_name;
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 int32_t real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_value;
garyservin 0:9e9b7db60fd5 63 u_value.base = 0;
garyservin 0:9e9b7db60fd5 64 u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 65 u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 66 u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 67 u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 68 this->value = u_value.real;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 70 return offset;
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
garyservin 0:9e9b7db60fd5 74 const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 #endif