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/ParamDescription.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_ParamDescription_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_dynamic_reconfigure_ParamDescription_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 ParamDescription : 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 const char* _type_type;
garyservin 0:9e9b7db60fd5 18 _type_type type;
garyservin 0:9e9b7db60fd5 19 typedef uint32_t _level_type;
garyservin 0:9e9b7db60fd5 20 _level_type level;
garyservin 0:9e9b7db60fd5 21 typedef const char* _description_type;
garyservin 0:9e9b7db60fd5 22 _description_type description;
garyservin 0:9e9b7db60fd5 23 typedef const char* _edit_method_type;
garyservin 0:9e9b7db60fd5 24 _edit_method_type edit_method;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 ParamDescription():
garyservin 0:9e9b7db60fd5 27 name(""),
garyservin 0:9e9b7db60fd5 28 type(""),
garyservin 0:9e9b7db60fd5 29 level(0),
garyservin 0:9e9b7db60fd5 30 description(""),
garyservin 0:9e9b7db60fd5 31 edit_method("")
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 39 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 42 offset += length_name;
garyservin 0:9e9b7db60fd5 43 uint32_t length_type = strlen(this->type);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_type);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->type, length_type);
garyservin 0:9e9b7db60fd5 47 offset += length_type;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->level >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->level >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->level >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 53 uint32_t length_description = strlen(this->description);
garyservin 0:9e9b7db60fd5 54 varToArr(outbuffer + offset, length_description);
garyservin 0:9e9b7db60fd5 55 offset += 4;
garyservin 0:9e9b7db60fd5 56 memcpy(outbuffer + offset, this->description, length_description);
garyservin 0:9e9b7db60fd5 57 offset += length_description;
garyservin 0:9e9b7db60fd5 58 uint32_t length_edit_method = strlen(this->edit_method);
garyservin 0:9e9b7db60fd5 59 varToArr(outbuffer + offset, length_edit_method);
garyservin 0:9e9b7db60fd5 60 offset += 4;
garyservin 0:9e9b7db60fd5 61 memcpy(outbuffer + offset, this->edit_method, length_edit_method);
garyservin 0:9e9b7db60fd5 62 offset += length_edit_method;
garyservin 0:9e9b7db60fd5 63 return offset;
garyservin 0:9e9b7db60fd5 64 }
garyservin 0:9e9b7db60fd5 65
garyservin 0:9e9b7db60fd5 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 67 {
garyservin 0:9e9b7db60fd5 68 int offset = 0;
garyservin 0:9e9b7db60fd5 69 uint32_t length_name;
garyservin 0:9e9b7db60fd5 70 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 71 offset += 4;
garyservin 0:9e9b7db60fd5 72 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 73 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 74 }
garyservin 0:9e9b7db60fd5 75 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 76 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 77 offset += length_name;
garyservin 0:9e9b7db60fd5 78 uint32_t length_type;
garyservin 0:9e9b7db60fd5 79 arrToVar(length_type, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 80 offset += 4;
garyservin 0:9e9b7db60fd5 81 for(unsigned int k= offset; k< offset+length_type; ++k){
garyservin 0:9e9b7db60fd5 82 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84 inbuffer[offset+length_type-1]=0;
garyservin 0:9e9b7db60fd5 85 this->type = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 86 offset += length_type;
garyservin 0:9e9b7db60fd5 87 this->level = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 88 this->level |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 89 this->level |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 90 this->level |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 91 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 92 uint32_t length_description;
garyservin 0:9e9b7db60fd5 93 arrToVar(length_description, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 94 offset += 4;
garyservin 0:9e9b7db60fd5 95 for(unsigned int k= offset; k< offset+length_description; ++k){
garyservin 0:9e9b7db60fd5 96 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98 inbuffer[offset+length_description-1]=0;
garyservin 0:9e9b7db60fd5 99 this->description = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 100 offset += length_description;
garyservin 0:9e9b7db60fd5 101 uint32_t length_edit_method;
garyservin 0:9e9b7db60fd5 102 arrToVar(length_edit_method, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 103 offset += 4;
garyservin 0:9e9b7db60fd5 104 for(unsigned int k= offset; k< offset+length_edit_method; ++k){
garyservin 0:9e9b7db60fd5 105 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 106 }
garyservin 0:9e9b7db60fd5 107 inbuffer[offset+length_edit_method-1]=0;
garyservin 0:9e9b7db60fd5 108 this->edit_method = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 109 offset += length_edit_method;
garyservin 0:9e9b7db60fd5 110 return offset;
garyservin 0:9e9b7db60fd5 111 }
garyservin 0:9e9b7db60fd5 112
garyservin 0:9e9b7db60fd5 113 const char * getType(){ return "dynamic_reconfigure/ParamDescription"; };
garyservin 0:9e9b7db60fd5 114 const char * getMD5(){ return "7434fcb9348c13054e0c3b267c8cb34d"; };
garyservin 0:9e9b7db60fd5 115
garyservin 0:9e9b7db60fd5 116 };
garyservin 0:9e9b7db60fd5 117
garyservin 0:9e9b7db60fd5 118 }
garyservin 0:9e9b7db60fd5 119 #endif