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

geometry_msgs/Point.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_geometry_msgs_Point_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_geometry_msgs_Point_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 geometry_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Point : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef double _x_type;
garyservin 0:9e9b7db60fd5 16 _x_type x;
garyservin 0:9e9b7db60fd5 17 typedef double _y_type;
garyservin 0:9e9b7db60fd5 18 _y_type y;
garyservin 0:9e9b7db60fd5 19 typedef double _z_type;
garyservin 0:9e9b7db60fd5 20 _z_type z;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 Point():
garyservin 0:9e9b7db60fd5 23 x(0),
garyservin 0:9e9b7db60fd5 24 y(0),
garyservin 0:9e9b7db60fd5 25 z(0)
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 union {
garyservin 0:9e9b7db60fd5 33 double real;
garyservin 0:9e9b7db60fd5 34 uint64_t base;
garyservin 0:9e9b7db60fd5 35 } u_x;
garyservin 0:9e9b7db60fd5 36 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 46 union {
garyservin 0:9e9b7db60fd5 47 double real;
garyservin 0:9e9b7db60fd5 48 uint64_t base;
garyservin 0:9e9b7db60fd5 49 } u_y;
garyservin 0:9e9b7db60fd5 50 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 double real;
garyservin 0:9e9b7db60fd5 62 uint64_t base;
garyservin 0:9e9b7db60fd5 63 } u_z;
garyservin 0:9e9b7db60fd5 64 u_z.real = this->z;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->z);
garyservin 0:9e9b7db60fd5 74 return offset;
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76
garyservin 0:9e9b7db60fd5 77 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 78 {
garyservin 0:9e9b7db60fd5 79 int offset = 0;
garyservin 0:9e9b7db60fd5 80 union {
garyservin 0:9e9b7db60fd5 81 double real;
garyservin 0:9e9b7db60fd5 82 uint64_t base;
garyservin 0:9e9b7db60fd5 83 } u_x;
garyservin 0:9e9b7db60fd5 84 u_x.base = 0;
garyservin 0:9e9b7db60fd5 85 u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 86 u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 87 u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 88 u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 89 u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 90 u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 91 u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 92 u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 93 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 94 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 95 union {
garyservin 0:9e9b7db60fd5 96 double real;
garyservin 0:9e9b7db60fd5 97 uint64_t base;
garyservin 0:9e9b7db60fd5 98 } u_y;
garyservin 0:9e9b7db60fd5 99 u_y.base = 0;
garyservin 0:9e9b7db60fd5 100 u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 101 u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 102 u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 103 u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 104 u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 105 u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 106 u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 107 u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 108 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 110 union {
garyservin 0:9e9b7db60fd5 111 double real;
garyservin 0:9e9b7db60fd5 112 uint64_t base;
garyservin 0:9e9b7db60fd5 113 } u_z;
garyservin 0:9e9b7db60fd5 114 u_z.base = 0;
garyservin 0:9e9b7db60fd5 115 u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 116 u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 117 u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 118 u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 119 u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 120 u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 121 u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 122 u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 123 this->z = u_z.real;
garyservin 0:9e9b7db60fd5 124 offset += sizeof(this->z);
garyservin 0:9e9b7db60fd5 125 return offset;
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127
garyservin 0:9e9b7db60fd5 128 const char * getType(){ return "geometry_msgs/Point"; };
garyservin 0:9e9b7db60fd5 129 const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; };
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 }
garyservin 0:9e9b7db60fd5 134 #endif