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

nav_msgs/MapMetaData.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_nav_msgs_MapMetaData_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_MapMetaData_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 "ros/time.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class MapMetaData : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef ros::Time _map_load_time_type;
garyservin 0:9e9b7db60fd5 18 _map_load_time_type map_load_time;
garyservin 0:9e9b7db60fd5 19 typedef float _resolution_type;
garyservin 0:9e9b7db60fd5 20 _resolution_type resolution;
garyservin 0:9e9b7db60fd5 21 typedef uint32_t _width_type;
garyservin 0:9e9b7db60fd5 22 _width_type width;
garyservin 0:9e9b7db60fd5 23 typedef uint32_t _height_type;
garyservin 0:9e9b7db60fd5 24 _height_type height;
garyservin 0:9e9b7db60fd5 25 typedef geometry_msgs::Pose _origin_type;
garyservin 0:9e9b7db60fd5 26 _origin_type origin;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 MapMetaData():
garyservin 0:9e9b7db60fd5 29 map_load_time(),
garyservin 0:9e9b7db60fd5 30 resolution(0),
garyservin 0:9e9b7db60fd5 31 width(0),
garyservin 0:9e9b7db60fd5 32 height(0),
garyservin 0:9e9b7db60fd5 33 origin()
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 }
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 int offset = 0;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->map_load_time.sec);
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->map_load_time.nsec);
garyservin 0:9e9b7db60fd5 50 union {
garyservin 0:9e9b7db60fd5 51 float real;
garyservin 0:9e9b7db60fd5 52 uint32_t base;
garyservin 0:9e9b7db60fd5 53 } u_resolution;
garyservin 0:9e9b7db60fd5 54 u_resolution.real = this->resolution;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->resolution);
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 70 offset += this->origin.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 71 return offset;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 75 {
garyservin 0:9e9b7db60fd5 76 int offset = 0;
garyservin 0:9e9b7db60fd5 77 this->map_load_time.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 78 this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 79 this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 80 this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->map_load_time.sec);
garyservin 0:9e9b7db60fd5 82 this->map_load_time.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 83 this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->map_load_time.nsec);
garyservin 0:9e9b7db60fd5 87 union {
garyservin 0:9e9b7db60fd5 88 float real;
garyservin 0:9e9b7db60fd5 89 uint32_t base;
garyservin 0:9e9b7db60fd5 90 } u_resolution;
garyservin 0:9e9b7db60fd5 91 u_resolution.base = 0;
garyservin 0:9e9b7db60fd5 92 u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 93 u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 94 u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 95 u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 96 this->resolution = u_resolution.real;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->resolution);
garyservin 0:9e9b7db60fd5 98 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 99 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 100 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 101 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 103 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 104 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 105 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 106 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 107 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 108 offset += this->origin.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 109 return offset;
garyservin 0:9e9b7db60fd5 110 }
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 const char * getType(){ return "nav_msgs/MapMetaData"; };
garyservin 0:9e9b7db60fd5 113 const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; };
garyservin 0:9e9b7db60fd5 114
garyservin 0:9e9b7db60fd5 115 };
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 #endif