hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

dynamic_reconfigure/BoolParameter.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_dynamic_reconfigure_BoolParameter_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_dynamic_reconfigure_BoolParameter_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 BoolParameter : 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 bool _value_type;
Gary Servin 0:04ac6be8229a 18 _value_type value;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 BoolParameter():
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 bool real;
Gary Servin 0:04ac6be8229a 36 uint8_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 offset += sizeof(this->value);
Gary Servin 0:04ac6be8229a 41 return offset;
Gary Servin 0:04ac6be8229a 42 }
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 int offset = 0;
Gary Servin 0:04ac6be8229a 47 uint32_t length_name;
Gary Servin 0:04ac6be8229a 48 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 49 offset += 4;
Gary Servin 0:04ac6be8229a 50 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 51 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 54 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 55 offset += length_name;
Gary Servin 0:04ac6be8229a 56 union {
Gary Servin 0:04ac6be8229a 57 bool real;
Gary Servin 0:04ac6be8229a 58 uint8_t base;
Gary Servin 0:04ac6be8229a 59 } u_value;
Gary Servin 0:04ac6be8229a 60 u_value.base = 0;
Gary Servin 0:04ac6be8229a 61 u_value.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 62 this->value = u_value.real;
Gary Servin 0:04ac6be8229a 63 offset += sizeof(this->value);
Gary Servin 0:04ac6be8229a 64 return offset;
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 const char * getType(){ return "dynamic_reconfigure/BoolParameter"; };
Gary Servin 0:04ac6be8229a 68 const char * getMD5(){ return "23f05028c1a699fb83e22401228c3a9e"; };
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 };
Gary Servin 0:04ac6be8229a 71
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 #endif