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

map_msgs/ProjectedMap.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_map_msgs_ProjectedMap_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_map_msgs_ProjectedMap_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 "nav_msgs/OccupancyGrid.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace map_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class ProjectedMap : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef nav_msgs::OccupancyGrid _map_type;
garyservin 0:9e9b7db60fd5 17 _map_type map;
garyservin 0:9e9b7db60fd5 18 typedef double _min_z_type;
garyservin 0:9e9b7db60fd5 19 _min_z_type min_z;
garyservin 0:9e9b7db60fd5 20 typedef double _max_z_type;
garyservin 0:9e9b7db60fd5 21 _max_z_type max_z;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 ProjectedMap():
garyservin 0:9e9b7db60fd5 24 map(),
garyservin 0:9e9b7db60fd5 25 min_z(0),
garyservin 0:9e9b7db60fd5 26 max_z(0)
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->map.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 double real;
garyservin 0:9e9b7db60fd5 36 uint64_t base;
garyservin 0:9e9b7db60fd5 37 } u_min_z;
garyservin 0:9e9b7db60fd5 38 u_min_z.real = this->min_z;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->min_z);
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 double real;
garyservin 0:9e9b7db60fd5 50 uint64_t base;
garyservin 0:9e9b7db60fd5 51 } u_max_z;
garyservin 0:9e9b7db60fd5 52 u_max_z.real = this->max_z;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->max_z);
garyservin 0:9e9b7db60fd5 62 return offset;
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 66 {
garyservin 0:9e9b7db60fd5 67 int offset = 0;
garyservin 0:9e9b7db60fd5 68 offset += this->map.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 double real;
garyservin 0:9e9b7db60fd5 71 uint64_t base;
garyservin 0:9e9b7db60fd5 72 } u_min_z;
garyservin 0:9e9b7db60fd5 73 u_min_z.base = 0;
garyservin 0:9e9b7db60fd5 74 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 75 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 79 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 80 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 81 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 82 this->min_z = u_min_z.real;
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->min_z);
garyservin 0:9e9b7db60fd5 84 union {
garyservin 0:9e9b7db60fd5 85 double real;
garyservin 0:9e9b7db60fd5 86 uint64_t base;
garyservin 0:9e9b7db60fd5 87 } u_max_z;
garyservin 0:9e9b7db60fd5 88 u_max_z.base = 0;
garyservin 0:9e9b7db60fd5 89 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 90 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 91 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 92 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 93 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 94 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 95 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 96 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 97 this->max_z = u_max_z.real;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->max_z);
garyservin 0:9e9b7db60fd5 99 return offset;
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101
garyservin 0:9e9b7db60fd5 102 const char * getType(){ return "map_msgs/ProjectedMap"; };
garyservin 0:9e9b7db60fd5 103 const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
garyservin 0:9e9b7db60fd5 104
garyservin 0:9e9b7db60fd5 105 };
garyservin 0:9e9b7db60fd5 106
garyservin 0:9e9b7db60fd5 107 }
garyservin 0:9e9b7db60fd5 108 #endif