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/GroupState.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_GroupState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_dynamic_reconfigure_GroupState_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 GroupState : 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 _state_type;
Gary Servin 0:04ac6be8229a 18 _state_type state;
Gary Servin 0:04ac6be8229a 19 typedef int32_t _id_type;
Gary Servin 0:04ac6be8229a 20 _id_type id;
Gary Servin 0:04ac6be8229a 21 typedef int32_t _parent_type;
Gary Servin 0:04ac6be8229a 22 _parent_type parent;
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 GroupState():
Gary Servin 0:04ac6be8229a 25 name(""),
Gary Servin 0:04ac6be8229a 26 state(0),
Gary Servin 0:04ac6be8229a 27 id(0),
Gary Servin 0:04ac6be8229a 28 parent(0)
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 }
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 int offset = 0;
Gary Servin 0:04ac6be8229a 35 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 36 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 37 offset += 4;
Gary Servin 0:04ac6be8229a 38 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 39 offset += length_name;
Gary Servin 0:04ac6be8229a 40 union {
Gary Servin 0:04ac6be8229a 41 bool real;
Gary Servin 0:04ac6be8229a 42 uint8_t base;
Gary Servin 0:04ac6be8229a 43 } u_state;
Gary Servin 0:04ac6be8229a 44 u_state.real = this->state;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (u_state.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 offset += sizeof(this->state);
Gary Servin 0:04ac6be8229a 47 union {
Gary Servin 0:04ac6be8229a 48 int32_t real;
Gary Servin 0:04ac6be8229a 49 uint32_t base;
Gary Servin 0:04ac6be8229a 50 } u_id;
Gary Servin 0:04ac6be8229a 51 u_id.real = this->id;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->id);
Gary Servin 0:04ac6be8229a 57 union {
Gary Servin 0:04ac6be8229a 58 int32_t real;
Gary Servin 0:04ac6be8229a 59 uint32_t base;
Gary Servin 0:04ac6be8229a 60 } u_parent;
Gary Servin 0:04ac6be8229a 61 u_parent.real = this->parent;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->parent);
Gary Servin 0:04ac6be8229a 67 return offset;
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 71 {
Gary Servin 0:04ac6be8229a 72 int offset = 0;
Gary Servin 0:04ac6be8229a 73 uint32_t length_name;
Gary Servin 0:04ac6be8229a 74 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 75 offset += 4;
Gary Servin 0:04ac6be8229a 76 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 77 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 80 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 81 offset += length_name;
Gary Servin 0:04ac6be8229a 82 union {
Gary Servin 0:04ac6be8229a 83 bool real;
Gary Servin 0:04ac6be8229a 84 uint8_t base;
Gary Servin 0:04ac6be8229a 85 } u_state;
Gary Servin 0:04ac6be8229a 86 u_state.base = 0;
Gary Servin 0:04ac6be8229a 87 u_state.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 88 this->state = u_state.real;
Gary Servin 0:04ac6be8229a 89 offset += sizeof(this->state);
Gary Servin 0:04ac6be8229a 90 union {
Gary Servin 0:04ac6be8229a 91 int32_t real;
Gary Servin 0:04ac6be8229a 92 uint32_t base;
Gary Servin 0:04ac6be8229a 93 } u_id;
Gary Servin 0:04ac6be8229a 94 u_id.base = 0;
Gary Servin 0:04ac6be8229a 95 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 96 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 97 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 98 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 99 this->id = u_id.real;
Gary Servin 0:04ac6be8229a 100 offset += sizeof(this->id);
Gary Servin 0:04ac6be8229a 101 union {
Gary Servin 0:04ac6be8229a 102 int32_t real;
Gary Servin 0:04ac6be8229a 103 uint32_t base;
Gary Servin 0:04ac6be8229a 104 } u_parent;
Gary Servin 0:04ac6be8229a 105 u_parent.base = 0;
Gary Servin 0:04ac6be8229a 106 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 107 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 108 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 109 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 110 this->parent = u_parent.real;
Gary Servin 0:04ac6be8229a 111 offset += sizeof(this->parent);
Gary Servin 0:04ac6be8229a 112 return offset;
Gary Servin 0:04ac6be8229a 113 }
Gary Servin 0:04ac6be8229a 114
Gary Servin 0:04ac6be8229a 115 const char * getType(){ return "dynamic_reconfigure/GroupState"; };
Gary Servin 0:04ac6be8229a 116 const char * getMD5(){ return "a2d87f51dc22930325041a2f8b1571f8"; };
Gary Servin 0:04ac6be8229a 117
Gary Servin 0:04ac6be8229a 118 };
Gary Servin 0:04ac6be8229a 119
Gary Servin 0:04ac6be8229a 120 }
Gary Servin 0:04ac6be8229a 121 #endif