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/IntParameter.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_IntParameter_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_IntParameter_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 IntParameter : 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 int32_t _value_type;
garyservin 0:9e9b7db60fd5 18 _value_type value;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 IntParameter():
garyservin 0:9e9b7db60fd5 21 name(""),
garyservin 0:9e9b7db60fd5 22 value(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 30 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 31 offset += 4;
garyservin 0:9e9b7db60fd5 32 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 33 offset += length_name;
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 int32_t real;
garyservin 0:9e9b7db60fd5 36 uint32_t base;
garyservin 0:9e9b7db60fd5 37 } u_value;
garyservin 0:9e9b7db60fd5 38 u_value.real = this->value;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 44 return offset;
garyservin 0:9e9b7db60fd5 45 }
garyservin 0:9e9b7db60fd5 46
garyservin 0:9e9b7db60fd5 47 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 int offset = 0;
garyservin 0:9e9b7db60fd5 50 uint32_t length_name;
garyservin 0:9e9b7db60fd5 51 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 52 offset += 4;
garyservin 0:9e9b7db60fd5 53 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 54 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 57 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 58 offset += length_name;
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 int32_t real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_value;
garyservin 0:9e9b7db60fd5 63 u_value.base = 0;
garyservin 0:9e9b7db60fd5 64 u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 65 u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 66 u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 67 u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 68 this->value = u_value.real;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->value);
garyservin 0:9e9b7db60fd5 70 return offset;
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
garyservin 0:9e9b7db60fd5 74 const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 #endif