From 7faed535513d98a671bf807ecb63e2c27003212e Mon Sep 17 00:00:00 2001
From: Damien Petit <damien.gerard.petit@gmail.com>
Date: Thu, 12 Sep 2013 02:38:41 +0900
Subject: [PATCH] add support for unsigned int values import/export (close #2)
---
src/converter.hh | 12 ++++++++++++
src/ros_export.cpp | 3 +++
src/ros_import.cpp | 3 +++
src/sot_to_ros.cpp | 1 +
src/sot_to_ros.hh | 20 ++++++++++++++++++++
5 files changed, 39 insertions(+)
diff --git a/src/converter.hh b/src/converter.hh
index 4cc8e56..e53cbf5 100644
--- a/src/converter.hh
+++ b/src/converter.hh
@@ -55,6 +55,17 @@ namespace dynamicgraph
dst = src.data;
}
+ // Unsigned
+ SOT_TO_ROS_IMPL(unsigned int)
+ {
+ dst.data = src;
+ }
+
+ ROS_TO_SOT_IMPL(unsigned int)
+ {
+ dst = src.data;
+ }
+
// Vector
SOT_TO_ROS_IMPL(ml::Vector)
{
@@ -210,6 +221,7 @@ namespace dynamicgraph
struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
DG_BRIDGE_MAKE_SHPTR_IMPL(double);
+ DG_BRIDGE_MAKE_SHPTR_IMPL(unsigned int);
DG_BRIDGE_MAKE_SHPTR_IMPL(ml::Vector);
DG_BRIDGE_MAKE_SHPTR_IMPL(specific::Vector3);
DG_BRIDGE_MAKE_SHPTR_IMPL(ml::Matrix);
diff --git a/src/ros_export.cpp b/src/ros_export.cpp
index 70a5f6e..aafa3e1 100644
--- a/src/ros_export.cpp
+++ b/src/ros_export.cpp
@@ -6,6 +6,7 @@
#include <ros/ros.h>
#include <std_msgs/Float64.h>
+#include <std_msgs/UInt32.h>
#include <dynamic-graph/factory.h>
@@ -73,6 +74,8 @@ namespace dynamicgraph
if (type == "double")
entity.add<double> (signal, topic);
+ else if (type == "unsigned")
+ entity.add<unsigned int> (signal, topic);
else if (type == "matrix")
entity.add<ml::Matrix> (signal, topic);
else if (type == "vector")
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index 4497b6e..88279b0 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -9,6 +9,7 @@
#include <ros/ros.h>
#include <std_msgs/Float64.h>
+#include <std_msgs/UInt32.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command.h>
@@ -77,6 +78,8 @@ namespace dynamicgraph
if (type == "double")
entity.add<double> (signal, topic);
+ else if (type == "unsigned")
+ entity.add<unsigned int> (signal, topic);
else if (type == "matrix")
entity.add<ml::Matrix> (signal, topic);
else if (type == "vector")
diff --git a/src/sot_to_ros.cpp b/src/sot_to_ros.cpp
index 1b52ae9..701087c 100644
--- a/src/sot_to_ros.cpp
+++ b/src/sot_to_ros.cpp
@@ -4,6 +4,7 @@ namespace dynamicgraph
{
const char* SotToRos<double>::signalTypeName = "Double";
+ const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
const char* SotToRos<ml::Matrix>::signalTypeName = "Matrix";
const char* SotToRos<ml::Vector>::signalTypeName = "Vector";
const char* SotToRos<specific::Vector3>::signalTypeName = "Vector3";
diff --git a/src/sot_to_ros.hh b/src/sot_to_ros.hh
index 2088175..8878789 100644
--- a/src/sot_to_ros.hh
+++ b/src/sot_to_ros.hh
@@ -7,6 +7,7 @@
# include <jrl/mal/boost.hh>
# include <std_msgs/Float64.h>
+# include <std_msgs/UInt32.h>
# include "dynamic_graph_bridge/Matrix.h"
# include "dynamic_graph_bridge/Vector.h"
@@ -67,6 +68,25 @@ namespace dynamicgraph
}
};
+ template <>
+ struct SotToRos<unsigned int>
+ {
+ typedef unsigned int sot_t;
+ typedef std_msgs::UInt32 ros_t;
+ typedef std_msgs::UInt32ConstPtr ros_const_ptr_t;
+ typedef dynamicgraph::Signal<sot_t, int> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
+ typedef boost::function<sot_t& (sot_t&, int)> callback_t;
+
+ static const char* signalTypeName;
+
+ template <typename S>
+ static void setDefault(S& s)
+ {
+ s.setConstant (0);
+ }
+ };
+
template <>
struct SotToRos<ml::Matrix>
{
--
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