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/PoseArray.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_PoseArray_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_geometry_msgs_PoseArray_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 "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace geometry_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class PoseArray : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 uint32_t poses_length;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::Pose _poses_type;
garyservin 0:9e9b7db60fd5 21 _poses_type st_poses;
garyservin 0:9e9b7db60fd5 22 _poses_type * poses;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 PoseArray():
garyservin 0:9e9b7db60fd5 25 header(),
garyservin 0:9e9b7db60fd5 26 poses_length(0), poses(NULL)
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 39 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 40 offset += this->poses[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 41 }
garyservin 0:9e9b7db60fd5 42 return offset;
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 int offset = 0;
garyservin 0:9e9b7db60fd5 48 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 49 uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 50 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 51 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 52 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 54 if(poses_lengthT > poses_length)
garyservin 0:9e9b7db60fd5 55 this->poses = (geometry_msgs::Pose*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 56 poses_length = poses_lengthT;
garyservin 0:9e9b7db60fd5 57 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 58 offset += this->st_poses.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 59 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 return offset;
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63
garyservin 0:9e9b7db60fd5 64 const char * getType(){ return "geometry_msgs/PoseArray"; };
garyservin 0:9e9b7db60fd5 65 const char * getMD5(){ return "916c28c5764443f268b296bb671b9d97"; };
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 };
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 #endif