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

laser_assembler/AssembleScans2.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_SERVICE_AssembleScans2_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_AssembleScans2_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "sensor_msgs/PointCloud2.h"
garyservin 0:9e9b7db60fd5 8 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace laser_assembler
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char ASSEMBLESCANS2[] = "laser_assembler/AssembleScans2";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class AssembleScans2Request : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef ros::Time _begin_type;
garyservin 0:9e9b7db60fd5 19 _begin_type begin;
garyservin 0:9e9b7db60fd5 20 typedef ros::Time _end_type;
garyservin 0:9e9b7db60fd5 21 _end_type end;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 AssembleScans2Request():
garyservin 0:9e9b7db60fd5 24 begin(),
garyservin 0:9e9b7db60fd5 25 end()
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 *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 offset += sizeof(this->begin.sec);
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 offset += sizeof(this->begin.nsec);
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->end.sec);
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->end.nsec);
garyservin 0:9e9b7db60fd5 52 return offset;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 int offset = 0;
garyservin 0:9e9b7db60fd5 58 this->begin.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 59 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 60 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 61 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->begin.sec);
garyservin 0:9e9b7db60fd5 63 this->begin.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 64 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 65 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 66 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->begin.nsec);
garyservin 0:9e9b7db60fd5 68 this->end.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 69 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->end.sec);
garyservin 0:9e9b7db60fd5 73 this->end.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 74 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 75 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 76 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->end.nsec);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 const char * getType(){ return ASSEMBLESCANS2; };
garyservin 0:9e9b7db60fd5 82 const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 class AssembleScans2Response : public ros::Msg
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 public:
garyservin 0:9e9b7db60fd5 89 typedef sensor_msgs::PointCloud2 _cloud_type;
garyservin 0:9e9b7db60fd5 90 _cloud_type cloud;
garyservin 0:9e9b7db60fd5 91
garyservin 0:9e9b7db60fd5 92 AssembleScans2Response():
garyservin 0:9e9b7db60fd5 93 cloud()
garyservin 0:9e9b7db60fd5 94 {
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96
garyservin 0:9e9b7db60fd5 97 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 98 {
garyservin 0:9e9b7db60fd5 99 int offset = 0;
garyservin 0:9e9b7db60fd5 100 offset += this->cloud.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 101 return offset;
garyservin 0:9e9b7db60fd5 102 }
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 105 {
garyservin 0:9e9b7db60fd5 106 int offset = 0;
garyservin 0:9e9b7db60fd5 107 offset += this->cloud.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 108 return offset;
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110
garyservin 0:9e9b7db60fd5 111 const char * getType(){ return ASSEMBLESCANS2; };
garyservin 0:9e9b7db60fd5 112 const char * getMD5(){ return "96cec5374164b3b3d1d7ef5d7628a7ed"; };
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 };
garyservin 0:9e9b7db60fd5 115
garyservin 0:9e9b7db60fd5 116 class AssembleScans2 {
garyservin 0:9e9b7db60fd5 117 public:
garyservin 0:9e9b7db60fd5 118 typedef AssembleScans2Request Request;
garyservin 0:9e9b7db60fd5 119 typedef AssembleScans2Response Response;
garyservin 0:9e9b7db60fd5 120 };
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 #endif