Diff: driver_base/ConfigValue.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_base/ConfigValue.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,85 @@
+#ifndef _ROS_driver_base_ConfigValue_h
+#define _ROS_driver_base_ConfigValue_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace driver_base
+{
+
+  class ConfigValue : public ros::Msg
+  {
+    public:
+      const char* name;
+      double value;
+
+    ConfigValue():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "driver_base/ConfigValue"; };
+    const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
+
+  };
+
+}
+#endif
\ No newline at end of file