.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_controller_info.hpp:

Program Listing for File controller_info.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_controller_info.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/packets/controller_info.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Preprocessor
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_CONTROLLER_INFO_HPP__
   #define KOBUKI_CORE_CONTROLLER_INFO_HPP__
   
   /*****************************************************************************
   ** Include
   *****************************************************************************/
   
   #include "../packet_handler/payload_base.hpp"
   #include "../packet_handler/payload_headers.hpp"
   
   /*****************************************************************************
   ** Namespace
   *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
   ** Interface
   *****************************************************************************/
   
   class ControllerInfo : public packet_handler::payloadBase
   {
   public:
     ControllerInfo() : packet_handler::payloadBase(false, 13) {};
     struct Data {
       Data() : type(0), p_gain(100*1000), i_gain(100), d_gain(2*1000) {}
       unsigned char type;
       unsigned int p_gain; //default value: 100 * 1000
       unsigned int i_gain; //default value: 0.1 * 1000
       unsigned int d_gain; //default value:   2 * 1000
     } data;
   
     bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       buildBytes(Header::ControllerInfo, byteStream);
       buildBytes(length, byteStream);
       buildBytes(data.type, byteStream);
       buildBytes(data.p_gain, byteStream);
       buildBytes(data.i_gain, byteStream);
       buildBytes(data.d_gain, byteStream);
       return true;
     }
   
     bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       if (byteStream.size() < static_cast<unsigned int>(length)+2)
       {
         //std::cout << "kobuki_node: kobuki_controller_info: deserialise failed. not enough byte stream." << std::endl;
         return false;
       }
   
       unsigned char header_id(0x00), length_packed(0x00);
       buildVariable(header_id, byteStream);
       buildVariable(length_packed, byteStream);
       if( header_id != Header::ControllerInfo ) return false;
       if( length_packed != length ) return false;
   
       buildVariable(data.type, byteStream);
       buildVariable(data.p_gain, byteStream);
       buildVariable(data.i_gain, byteStream);
       buildVariable(data.d_gain, byteStream);
   
       //showMe();
       return constrain();
     }
   
     bool constrain()
     {
       return true;
     }
   
     void showMe()
     {
     }
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_CONTROLLER_INFO_HPP__ */