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/GroupState.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_GroupState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_GroupState_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
garyservin 0:9e9b7db60fd5 9 namespace dynamic_reconfigure
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class GroupState : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef bool _state_type;
garyservin 0:9e9b7db60fd5 18 _state_type state;
garyservin 0:9e9b7db60fd5 19 typedef int32_t _id_type;
garyservin 0:9e9b7db60fd5 20 _id_type id;
garyservin 0:9e9b7db60fd5 21 typedef int32_t _parent_type;
garyservin 0:9e9b7db60fd5 22 _parent_type parent;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 GroupState():
garyservin 0:9e9b7db60fd5 25 name(""),
garyservin 0:9e9b7db60fd5 26 state(0),
garyservin 0:9e9b7db60fd5 27 id(0),
garyservin 0:9e9b7db60fd5 28 parent(0)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 36 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 37 offset += 4;
garyservin 0:9e9b7db60fd5 38 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 39 offset += length_name;
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 bool real;
garyservin 0:9e9b7db60fd5 42 uint8_t base;
garyservin 0:9e9b7db60fd5 43 } u_state;
garyservin 0:9e9b7db60fd5 44 u_state.real = this->state;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_state.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->state);
garyservin 0:9e9b7db60fd5 47 union {
garyservin 0:9e9b7db60fd5 48 int32_t real;
garyservin 0:9e9b7db60fd5 49 uint32_t base;
garyservin 0:9e9b7db60fd5 50 } u_id;
garyservin 0:9e9b7db60fd5 51 u_id.real = this->id;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 57 union {
garyservin 0:9e9b7db60fd5 58 int32_t real;
garyservin 0:9e9b7db60fd5 59 uint32_t base;
garyservin 0:9e9b7db60fd5 60 } u_parent;
garyservin 0:9e9b7db60fd5 61 u_parent.real = this->parent;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->parent);
garyservin 0:9e9b7db60fd5 67 return offset;
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 71 {
garyservin 0:9e9b7db60fd5 72 int offset = 0;
garyservin 0:9e9b7db60fd5 73 uint32_t length_name;
garyservin 0:9e9b7db60fd5 74 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 75 offset += 4;
garyservin 0:9e9b7db60fd5 76 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 77 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 80 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 81 offset += length_name;
garyservin 0:9e9b7db60fd5 82 union {
garyservin 0:9e9b7db60fd5 83 bool real;
garyservin 0:9e9b7db60fd5 84 uint8_t base;
garyservin 0:9e9b7db60fd5 85 } u_state;
garyservin 0:9e9b7db60fd5 86 u_state.base = 0;
garyservin 0:9e9b7db60fd5 87 u_state.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 88 this->state = u_state.real;
garyservin 0:9e9b7db60fd5 89 offset += sizeof(this->state);
garyservin 0:9e9b7db60fd5 90 union {
garyservin 0:9e9b7db60fd5 91 int32_t real;
garyservin 0:9e9b7db60fd5 92 uint32_t base;
garyservin 0:9e9b7db60fd5 93 } u_id;
garyservin 0:9e9b7db60fd5 94 u_id.base = 0;
garyservin 0:9e9b7db60fd5 95 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 96 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 97 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 98 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 99 this->id = u_id.real;
garyservin 0:9e9b7db60fd5 100 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 101 union {
garyservin 0:9e9b7db60fd5 102 int32_t real;
garyservin 0:9e9b7db60fd5 103 uint32_t base;
garyservin 0:9e9b7db60fd5 104 } u_parent;
garyservin 0:9e9b7db60fd5 105 u_parent.base = 0;
garyservin 0:9e9b7db60fd5 106 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 107 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 108 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 109 u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 110 this->parent = u_parent.real;
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->parent);
garyservin 0:9e9b7db60fd5 112 return offset;
garyservin 0:9e9b7db60fd5 113 }
garyservin 0:9e9b7db60fd5 114
garyservin 0:9e9b7db60fd5 115 const char * getType(){ return "dynamic_reconfigure/GroupState"; };
garyservin 0:9e9b7db60fd5 116 const char * getMD5(){ return "a2d87f51dc22930325041a2f8b1571f8"; };
garyservin 0:9e9b7db60fd5 117
garyservin 0:9e9b7db60fd5 118 };
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 }
garyservin 0:9e9b7db60fd5 121 #endif