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

dynamic_reconfigure/Config.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_dynamic_reconfigure_Config_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_Config_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 "dynamic_reconfigure/BoolParameter.h"
garyservin 0:9e9b7db60fd5 9 #include "dynamic_reconfigure/IntParameter.h"
garyservin 0:9e9b7db60fd5 10 #include "dynamic_reconfigure/StrParameter.h"
garyservin 0:9e9b7db60fd5 11 #include "dynamic_reconfigure/DoubleParameter.h"
garyservin 0:9e9b7db60fd5 12 #include "dynamic_reconfigure/GroupState.h"
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 namespace dynamic_reconfigure
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 class Config : public ros::Msg
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 public:
garyservin 0:9e9b7db60fd5 20 uint32_t bools_length;
garyservin 0:9e9b7db60fd5 21 typedef dynamic_reconfigure::BoolParameter _bools_type;
garyservin 0:9e9b7db60fd5 22 _bools_type st_bools;
garyservin 0:9e9b7db60fd5 23 _bools_type * bools;
garyservin 0:9e9b7db60fd5 24 uint32_t ints_length;
garyservin 0:9e9b7db60fd5 25 typedef dynamic_reconfigure::IntParameter _ints_type;
garyservin 0:9e9b7db60fd5 26 _ints_type st_ints;
garyservin 0:9e9b7db60fd5 27 _ints_type * ints;
garyservin 0:9e9b7db60fd5 28 uint32_t strs_length;
garyservin 0:9e9b7db60fd5 29 typedef dynamic_reconfigure::StrParameter _strs_type;
garyservin 0:9e9b7db60fd5 30 _strs_type st_strs;
garyservin 0:9e9b7db60fd5 31 _strs_type * strs;
garyservin 0:9e9b7db60fd5 32 uint32_t doubles_length;
garyservin 0:9e9b7db60fd5 33 typedef dynamic_reconfigure::DoubleParameter _doubles_type;
garyservin 0:9e9b7db60fd5 34 _doubles_type st_doubles;
garyservin 0:9e9b7db60fd5 35 _doubles_type * doubles;
garyservin 0:9e9b7db60fd5 36 uint32_t groups_length;
garyservin 0:9e9b7db60fd5 37 typedef dynamic_reconfigure::GroupState _groups_type;
garyservin 0:9e9b7db60fd5 38 _groups_type st_groups;
garyservin 0:9e9b7db60fd5 39 _groups_type * groups;
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 Config():
garyservin 0:9e9b7db60fd5 42 bools_length(0), bools(NULL),
garyservin 0:9e9b7db60fd5 43 ints_length(0), ints(NULL),
garyservin 0:9e9b7db60fd5 44 strs_length(0), strs(NULL),
garyservin 0:9e9b7db60fd5 45 doubles_length(0), doubles(NULL),
garyservin 0:9e9b7db60fd5 46 groups_length(0), groups(NULL)
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 int offset = 0;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->bools_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->bools_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (this->bools_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (this->bools_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->bools_length);
garyservin 0:9e9b7db60fd5 58 for( uint32_t i = 0; i < bools_length; i++){
garyservin 0:9e9b7db60fd5 59 offset += this->bools[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->ints_length);
garyservin 0:9e9b7db60fd5 66 for( uint32_t i = 0; i < ints_length; i++){
garyservin 0:9e9b7db60fd5 67 offset += this->ints[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (this->strs_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 1) = (this->strs_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 2) = (this->strs_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 3) = (this->strs_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->strs_length);
garyservin 0:9e9b7db60fd5 74 for( uint32_t i = 0; i < strs_length; i++){
garyservin 0:9e9b7db60fd5 75 offset += this->strs[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 0) = (this->doubles_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 1) = (this->doubles_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 2) = (this->doubles_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 3) = (this->doubles_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->doubles_length);
garyservin 0:9e9b7db60fd5 82 for( uint32_t i = 0; i < doubles_length; i++){
garyservin 0:9e9b7db60fd5 83 offset += this->doubles[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 0) = (this->groups_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 1) = (this->groups_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 2) = (this->groups_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 3) = (this->groups_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 offset += sizeof(this->groups_length);
garyservin 0:9e9b7db60fd5 90 for( uint32_t i = 0; i < groups_length; i++){
garyservin 0:9e9b7db60fd5 91 offset += this->groups[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 92 }
garyservin 0:9e9b7db60fd5 93 return offset;
garyservin 0:9e9b7db60fd5 94 }
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 97 {
garyservin 0:9e9b7db60fd5 98 int offset = 0;
garyservin 0:9e9b7db60fd5 99 uint32_t bools_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 100 bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 101 bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 102 bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 103 offset += sizeof(this->bools_length);
garyservin 0:9e9b7db60fd5 104 if(bools_lengthT > bools_length)
garyservin 0:9e9b7db60fd5 105 this->bools = (dynamic_reconfigure::BoolParameter*)realloc(this->bools, bools_lengthT * sizeof(dynamic_reconfigure::BoolParameter));
garyservin 0:9e9b7db60fd5 106 bools_length = bools_lengthT;
garyservin 0:9e9b7db60fd5 107 for( uint32_t i = 0; i < bools_length; i++){
garyservin 0:9e9b7db60fd5 108 offset += this->st_bools.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 109 memcpy( &(this->bools[i]), &(this->st_bools), sizeof(dynamic_reconfigure::BoolParameter));
garyservin 0:9e9b7db60fd5 110 }
garyservin 0:9e9b7db60fd5 111 uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 112 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 113 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 114 ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->ints_length);
garyservin 0:9e9b7db60fd5 116 if(ints_lengthT > ints_length)
garyservin 0:9e9b7db60fd5 117 this->ints = (dynamic_reconfigure::IntParameter*)realloc(this->ints, ints_lengthT * sizeof(dynamic_reconfigure::IntParameter));
garyservin 0:9e9b7db60fd5 118 ints_length = ints_lengthT;
garyservin 0:9e9b7db60fd5 119 for( uint32_t i = 0; i < ints_length; i++){
garyservin 0:9e9b7db60fd5 120 offset += this->st_ints.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 121 memcpy( &(this->ints[i]), &(this->st_ints), sizeof(dynamic_reconfigure::IntParameter));
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 uint32_t strs_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 124 strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 125 strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 126 strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 127 offset += sizeof(this->strs_length);
garyservin 0:9e9b7db60fd5 128 if(strs_lengthT > strs_length)
garyservin 0:9e9b7db60fd5 129 this->strs = (dynamic_reconfigure::StrParameter*)realloc(this->strs, strs_lengthT * sizeof(dynamic_reconfigure::StrParameter));
garyservin 0:9e9b7db60fd5 130 strs_length = strs_lengthT;
garyservin 0:9e9b7db60fd5 131 for( uint32_t i = 0; i < strs_length; i++){
garyservin 0:9e9b7db60fd5 132 offset += this->st_strs.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 133 memcpy( &(this->strs[i]), &(this->st_strs), sizeof(dynamic_reconfigure::StrParameter));
garyservin 0:9e9b7db60fd5 134 }
garyservin 0:9e9b7db60fd5 135 uint32_t doubles_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 136 doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 137 doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 138 doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 139 offset += sizeof(this->doubles_length);
garyservin 0:9e9b7db60fd5 140 if(doubles_lengthT > doubles_length)
garyservin 0:9e9b7db60fd5 141 this->doubles = (dynamic_reconfigure::DoubleParameter*)realloc(this->doubles, doubles_lengthT * sizeof(dynamic_reconfigure::DoubleParameter));
garyservin 0:9e9b7db60fd5 142 doubles_length = doubles_lengthT;
garyservin 0:9e9b7db60fd5 143 for( uint32_t i = 0; i < doubles_length; i++){
garyservin 0:9e9b7db60fd5 144 offset += this->st_doubles.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 145 memcpy( &(this->doubles[i]), &(this->st_doubles), sizeof(dynamic_reconfigure::DoubleParameter));
garyservin 0:9e9b7db60fd5 146 }
garyservin 0:9e9b7db60fd5 147 uint32_t groups_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 148 groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 149 groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 150 groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 151 offset += sizeof(this->groups_length);
garyservin 0:9e9b7db60fd5 152 if(groups_lengthT > groups_length)
garyservin 0:9e9b7db60fd5 153 this->groups = (dynamic_reconfigure::GroupState*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::GroupState));
garyservin 0:9e9b7db60fd5 154 groups_length = groups_lengthT;
garyservin 0:9e9b7db60fd5 155 for( uint32_t i = 0; i < groups_length; i++){
garyservin 0:9e9b7db60fd5 156 offset += this->st_groups.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 157 memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::GroupState));
garyservin 0:9e9b7db60fd5 158 }
garyservin 0:9e9b7db60fd5 159 return offset;
garyservin 0:9e9b7db60fd5 160 }
garyservin 0:9e9b7db60fd5 161
garyservin 0:9e9b7db60fd5 162 const char * getType(){ return "dynamic_reconfigure/Config"; };
garyservin 0:9e9b7db60fd5 163 const char * getMD5(){ return "958f16a05573709014982821e6822580"; };
garyservin 0:9e9b7db60fd5 164
garyservin 0:9e9b7db60fd5 165 };
garyservin 0:9e9b7db60fd5 166
garyservin 0:9e9b7db60fd5 167 }
garyservin 0:9e9b7db60fd5 168 #endif