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Support Boolean variables #403

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Support Boolean variables #403

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86743f3
add support for boolean;
lkm1321 Aug 27, 2020
4672039
Merge branch 'dev-support-boolean' into melodic-devel
lkm1321 Aug 27, 2020
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2 changes: 2 additions & 0 deletions canopen_chain_node/src/ros_chain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include <socketcan_interface/xmlrpc_settings.h>
#include <canopen_chain_node/ros_chain.h>

#include <std_msgs/Bool.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Int32.h>
Expand Down Expand Up @@ -41,6 +42,7 @@ PublishFuncType createPublishFunc(ros::NodeHandle &nh, const std::string &name,
ObjectStorageSharedPtr s = node->getStorage();

switch(ObjectDict::DataTypes(s->dict_->get(key)->data_type)){
case ObjectDict::DEFTYPE_BOOLEAN: return create< std_msgs::Bool, ObjectDict::DEFTYPE_BOOLEAN >(nh, name, s, key, force);
case ObjectDict::DEFTYPE_INTEGER8: return create< std_msgs::Int8, ObjectDict::DEFTYPE_INTEGER8 >(nh, name, s, key, force);
case ObjectDict::DEFTYPE_INTEGER16: return create< std_msgs::Int16, ObjectDict::DEFTYPE_INTEGER16 >(nh, name, s, key, force);
case ObjectDict::DEFTYPE_INTEGER32: return create< std_msgs::Int32, ObjectDict::DEFTYPE_INTEGER32 >(nh, name, s, key, force);
Expand Down
3 changes: 3 additions & 0 deletions canopen_master/include/canopen_master/objdict.h
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Expand Up @@ -146,6 +146,7 @@ class ObjectDict{
RECORD = 0x09
};
enum DataTypes{
DEFTYPE_BOOLEAN = 0x0001,
DEFTYPE_INTEGER8 = 0x0002,
DEFTYPE_INTEGER16 = 0x0003,
DEFTYPE_INTEGER32 = 0x0004,
Expand Down Expand Up @@ -539,6 +540,7 @@ typedef ObjectStorage::ObjectStorageSharedPtr ObjectStorageSharedPtr;
template<> String & ObjectStorage::Data::access();
template<> String & ObjectStorage::Data::allocate();

template<> struct ObjectStorage::DataType<ObjectDict::DEFTYPE_BOOLEAN> { typedef bool type; };
template<> struct ObjectStorage::DataType<ObjectDict::DEFTYPE_INTEGER8> { typedef int8_t type;};
template<> struct ObjectStorage::DataType<ObjectDict::DEFTYPE_INTEGER16> { typedef int16_t type;};
template<> struct ObjectStorage::DataType<ObjectDict::DEFTYPE_INTEGER32> { typedef int32_t type;};
Expand All @@ -559,6 +561,7 @@ template<> struct ObjectStorage::DataType<ObjectDict::DEFTYPE_DOMAIN> { typedef

template<typename T, typename R> static R *branch_type(const uint16_t data_type){
switch(ObjectDict::DataTypes(data_type)){
case ObjectDict::DEFTYPE_BOOLEAN: return T::template func< ObjectDict::DEFTYPE_BOOLEAN >;
case ObjectDict::DEFTYPE_INTEGER8: return T::template func< ObjectDict::DEFTYPE_INTEGER8 >;
case ObjectDict::DEFTYPE_INTEGER16: return T::template func< ObjectDict::DEFTYPE_INTEGER16 >;
case ObjectDict::DEFTYPE_INTEGER32: return T::template func< ObjectDict::DEFTYPE_INTEGER32 >;
Expand Down
5 changes: 5 additions & 0 deletions canopen_master/src/objdict.cpp
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Expand Up @@ -109,6 +109,10 @@ void set_access( ObjectDict::Entry &entry, std::string access){

template<typename T> T int_from_string(const std::string &s);

template<> bool int_from_string(const std::string &s){
return strtol(s.c_str(), 0, 0 ) > 0;
}

template<> int8_t int_from_string(const std::string &s){
return strtol(s.c_str(), 0, 0);
}
Expand Down Expand Up @@ -165,6 +169,7 @@ struct ReadAnyValue{
return branch_type<ReadAnyValue, HoldAny (boost::property_tree::iptree &, const std::string &)>(data_type)(pt, key);
}
};
template<> HoldAny ReadAnyValue::func<ObjectDict::DEFTYPE_BOOLEAN>(boost::property_tree::iptree &pt, const std::string &key){ return parse_int<bool>(pt, key); }
template<> HoldAny ReadAnyValue::func<ObjectDict::DEFTYPE_INTEGER8>(boost::property_tree::iptree &pt, const std::string &key){ return parse_int<int8_t>(pt,key); }
template<> HoldAny ReadAnyValue::func<ObjectDict::DEFTYPE_INTEGER16>(boost::property_tree::iptree &pt, const std::string &key){ return parse_int<int16_t>(pt,key); }
template<> HoldAny ReadAnyValue::func<ObjectDict::DEFTYPE_INTEGER32>(boost::property_tree::iptree &pt, const std::string &key){ return parse_int<int32_t>(pt,key); }
Expand Down