Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

bond/Status.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_bond_Status_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_bond_Status_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace bond
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Status : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef const char* _id_type;
garyservin 0:9e9b7db60fd5 19 _id_type id;
garyservin 0:9e9b7db60fd5 20 typedef const char* _instance_id_type;
garyservin 0:9e9b7db60fd5 21 _instance_id_type instance_id;
garyservin 0:9e9b7db60fd5 22 typedef bool _active_type;
garyservin 0:9e9b7db60fd5 23 _active_type active;
garyservin 0:9e9b7db60fd5 24 typedef float _heartbeat_timeout_type;
garyservin 0:9e9b7db60fd5 25 _heartbeat_timeout_type heartbeat_timeout;
garyservin 0:9e9b7db60fd5 26 typedef float _heartbeat_period_type;
garyservin 0:9e9b7db60fd5 27 _heartbeat_period_type heartbeat_period;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 Status():
garyservin 0:9e9b7db60fd5 30 header(),
garyservin 0:9e9b7db60fd5 31 id(""),
garyservin 0:9e9b7db60fd5 32 instance_id(""),
garyservin 0:9e9b7db60fd5 33 active(0),
garyservin 0:9e9b7db60fd5 34 heartbeat_timeout(0),
garyservin 0:9e9b7db60fd5 35 heartbeat_period(0)
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 uint32_t length_id = strlen(this->id);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_id);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->id, length_id);
garyservin 0:9e9b7db60fd5 47 offset += length_id;
garyservin 0:9e9b7db60fd5 48 uint32_t length_instance_id = strlen(this->instance_id);
garyservin 0:9e9b7db60fd5 49 varToArr(outbuffer + offset, length_instance_id);
garyservin 0:9e9b7db60fd5 50 offset += 4;
garyservin 0:9e9b7db60fd5 51 memcpy(outbuffer + offset, this->instance_id, length_instance_id);
garyservin 0:9e9b7db60fd5 52 offset += length_instance_id;
garyservin 0:9e9b7db60fd5 53 union {
garyservin 0:9e9b7db60fd5 54 bool real;
garyservin 0:9e9b7db60fd5 55 uint8_t base;
garyservin 0:9e9b7db60fd5 56 } u_active;
garyservin 0:9e9b7db60fd5 57 u_active.real = this->active;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->active);
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 float real;
garyservin 0:9e9b7db60fd5 62 uint32_t base;
garyservin 0:9e9b7db60fd5 63 } u_heartbeat_timeout;
garyservin 0:9e9b7db60fd5 64 u_heartbeat_timeout.real = this->heartbeat_timeout;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->heartbeat_timeout);
garyservin 0:9e9b7db60fd5 70 union {
garyservin 0:9e9b7db60fd5 71 float real;
garyservin 0:9e9b7db60fd5 72 uint32_t base;
garyservin 0:9e9b7db60fd5 73 } u_heartbeat_period;
garyservin 0:9e9b7db60fd5 74 u_heartbeat_period.real = this->heartbeat_period;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->heartbeat_period);
garyservin 0:9e9b7db60fd5 80 return offset;
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 84 {
garyservin 0:9e9b7db60fd5 85 int offset = 0;
garyservin 0:9e9b7db60fd5 86 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 87 uint32_t length_id;
garyservin 0:9e9b7db60fd5 88 arrToVar(length_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 89 offset += 4;
garyservin 0:9e9b7db60fd5 90 for(unsigned int k= offset; k< offset+length_id; ++k){
garyservin 0:9e9b7db60fd5 91 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 92 }
garyservin 0:9e9b7db60fd5 93 inbuffer[offset+length_id-1]=0;
garyservin 0:9e9b7db60fd5 94 this->id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 95 offset += length_id;
garyservin 0:9e9b7db60fd5 96 uint32_t length_instance_id;
garyservin 0:9e9b7db60fd5 97 arrToVar(length_instance_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 98 offset += 4;
garyservin 0:9e9b7db60fd5 99 for(unsigned int k= offset; k< offset+length_instance_id; ++k){
garyservin 0:9e9b7db60fd5 100 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 inbuffer[offset+length_instance_id-1]=0;
garyservin 0:9e9b7db60fd5 103 this->instance_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 104 offset += length_instance_id;
garyservin 0:9e9b7db60fd5 105 union {
garyservin 0:9e9b7db60fd5 106 bool real;
garyservin 0:9e9b7db60fd5 107 uint8_t base;
garyservin 0:9e9b7db60fd5 108 } u_active;
garyservin 0:9e9b7db60fd5 109 u_active.base = 0;
garyservin 0:9e9b7db60fd5 110 u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 111 this->active = u_active.real;
garyservin 0:9e9b7db60fd5 112 offset += sizeof(this->active);
garyservin 0:9e9b7db60fd5 113 union {
garyservin 0:9e9b7db60fd5 114 float real;
garyservin 0:9e9b7db60fd5 115 uint32_t base;
garyservin 0:9e9b7db60fd5 116 } u_heartbeat_timeout;
garyservin 0:9e9b7db60fd5 117 u_heartbeat_timeout.base = 0;
garyservin 0:9e9b7db60fd5 118 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 119 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 120 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 121 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 122 this->heartbeat_timeout = u_heartbeat_timeout.real;
garyservin 0:9e9b7db60fd5 123 offset += sizeof(this->heartbeat_timeout);
garyservin 0:9e9b7db60fd5 124 union {
garyservin 0:9e9b7db60fd5 125 float real;
garyservin 0:9e9b7db60fd5 126 uint32_t base;
garyservin 0:9e9b7db60fd5 127 } u_heartbeat_period;
garyservin 0:9e9b7db60fd5 128 u_heartbeat_period.base = 0;
garyservin 0:9e9b7db60fd5 129 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 130 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 131 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 132 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 133 this->heartbeat_period = u_heartbeat_period.real;
garyservin 0:9e9b7db60fd5 134 offset += sizeof(this->heartbeat_period);
garyservin 0:9e9b7db60fd5 135 return offset;
garyservin 0:9e9b7db60fd5 136 }
garyservin 0:9e9b7db60fd5 137
garyservin 0:9e9b7db60fd5 138 const char * getType(){ return "bond/Status"; };
garyservin 0:9e9b7db60fd5 139 const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
garyservin 0:9e9b7db60fd5 140
garyservin 0:9e9b7db60fd5 141 };
garyservin 0:9e9b7db60fd5 142
garyservin 0:9e9b7db60fd5 143 }
garyservin 0:9e9b7db60fd5 144 #endif