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

gazebo_msgs/LinkState.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_gazebo_msgs_LinkState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_LinkState_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 "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Twist.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class LinkState : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _link_name_type;
garyservin 0:9e9b7db60fd5 18 _link_name_type link_name;
garyservin 0:9e9b7db60fd5 19 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 20 _pose_type pose;
garyservin 0:9e9b7db60fd5 21 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 22 _twist_type twist;
garyservin 0:9e9b7db60fd5 23 typedef const char* _reference_frame_type;
garyservin 0:9e9b7db60fd5 24 _reference_frame_type reference_frame;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 LinkState():
garyservin 0:9e9b7db60fd5 27 link_name(""),
garyservin 0:9e9b7db60fd5 28 pose(),
garyservin 0:9e9b7db60fd5 29 twist(),
garyservin 0:9e9b7db60fd5 30 reference_frame("")
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 }
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 int offset = 0;
garyservin 0:9e9b7db60fd5 37 uint32_t length_link_name = strlen(this->link_name);
garyservin 0:9e9b7db60fd5 38 varToArr(outbuffer + offset, length_link_name);
garyservin 0:9e9b7db60fd5 39 offset += 4;
garyservin 0:9e9b7db60fd5 40 memcpy(outbuffer + offset, this->link_name, length_link_name);
garyservin 0:9e9b7db60fd5 41 offset += length_link_name;
garyservin 0:9e9b7db60fd5 42 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 offset += this->twist.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 44 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:9e9b7db60fd5 45 varToArr(outbuffer + offset, length_reference_frame);
garyservin 0:9e9b7db60fd5 46 offset += 4;
garyservin 0:9e9b7db60fd5 47 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:9e9b7db60fd5 48 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 uint32_t length_link_name;
garyservin 0:9e9b7db60fd5 56 arrToVar(length_link_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 57 offset += 4;
garyservin 0:9e9b7db60fd5 58 for(unsigned int k= offset; k< offset+length_link_name; ++k){
garyservin 0:9e9b7db60fd5 59 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 inbuffer[offset+length_link_name-1]=0;
garyservin 0:9e9b7db60fd5 62 this->link_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 63 offset += length_link_name;
garyservin 0:9e9b7db60fd5 64 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 65 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 66 uint32_t length_reference_frame;
garyservin 0:9e9b7db60fd5 67 arrToVar(length_reference_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 68 offset += 4;
garyservin 0:9e9b7db60fd5 69 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:9e9b7db60fd5 70 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:9e9b7db60fd5 73 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 74 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 75 return offset;
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 const char * getType(){ return "gazebo_msgs/LinkState"; };
garyservin 0:9e9b7db60fd5 79 const char * getMD5(){ return "0818ebbf28ce3a08d48ab1eaa7309ebe"; };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 };
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84 #endif