ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

driver_base/ConfigValue.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_driver_base_ConfigValue_h
garyservin 0:fd24f7ca9688 2 #define _ROS_driver_base_ConfigValue_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace driver_base
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class ConfigValue : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 const char* name;
garyservin 0:fd24f7ca9688 16 double value;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 ConfigValue():
garyservin 0:fd24f7ca9688 19 name(""),
garyservin 0:fd24f7ca9688 20 value(0)
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 28 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 29 offset += 4;
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 31 offset += length_name;
garyservin 0:fd24f7ca9688 32 union {
garyservin 0:fd24f7ca9688 33 double real;
garyservin 0:fd24f7ca9688 34 uint64_t base;
garyservin 0:fd24f7ca9688 35 } u_value;
garyservin 0:fd24f7ca9688 36 u_value.real = this->value;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 45 offset += sizeof(this->value);
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 50 {
garyservin 0:fd24f7ca9688 51 int offset = 0;
garyservin 0:fd24f7ca9688 52 uint32_t length_name;
garyservin 0:fd24f7ca9688 53 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 54 offset += 4;
garyservin 0:fd24f7ca9688 55 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 56 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 57 }
garyservin 0:fd24f7ca9688 58 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 59 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 60 offset += length_name;
garyservin 0:fd24f7ca9688 61 union {
garyservin 0:fd24f7ca9688 62 double real;
garyservin 0:fd24f7ca9688 63 uint64_t base;
garyservin 0:fd24f7ca9688 64 } u_value;
garyservin 0:fd24f7ca9688 65 u_value.base = 0;
garyservin 0:fd24f7ca9688 66 u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 67 u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 68 u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 69 u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 70 u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 71 u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 72 u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 73 u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 74 this->value = u_value.real;
garyservin 0:fd24f7ca9688 75 offset += sizeof(this->value);
garyservin 0:fd24f7ca9688 76 return offset;
garyservin 0:fd24f7ca9688 77 }
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 const char * getType(){ return "driver_base/ConfigValue"; };
garyservin 0:fd24f7ca9688 80 const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
garyservin 0:fd24f7ca9688 81
garyservin 0:fd24f7ca9688 82 };
garyservin 0:fd24f7ca9688 83
garyservin 0:fd24f7ca9688 84 }
garyservin 0:fd24f7ca9688 85 #endif