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

nodelet/NodeletList.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_NodeletList_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_NodeletList_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
garyservin 0:9e9b7db60fd5 8 namespace nodelet
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char NODELETLIST[] = "nodelet/NodeletList";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class NodeletListRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 NodeletListRequest()
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 }
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 int offset = 0;
garyservin 0:9e9b7db60fd5 24 return offset;
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 return offset;
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 const char * getType(){ return NODELETLIST; };
garyservin 0:9e9b7db60fd5 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 class NodeletListResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 uint32_t nodelets_length;
garyservin 0:9e9b7db60fd5 42 typedef char* _nodelets_type;
garyservin 0:9e9b7db60fd5 43 _nodelets_type st_nodelets;
garyservin 0:9e9b7db60fd5 44 _nodelets_type * nodelets;
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 NodeletListResponse():
garyservin 0:9e9b7db60fd5 47 nodelets_length(0), nodelets(NULL)
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50
garyservin 0:9e9b7db60fd5 51 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 int offset = 0;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 0) = (this->nodelets_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 1) = (this->nodelets_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 2) = (this->nodelets_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 3) = (this->nodelets_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->nodelets_length);
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < nodelets_length; i++){
garyservin 0:9e9b7db60fd5 60 uint32_t length_nodeletsi = strlen(this->nodelets[i]);
garyservin 0:9e9b7db60fd5 61 varToArr(outbuffer + offset, length_nodeletsi);
garyservin 0:9e9b7db60fd5 62 offset += 4;
garyservin 0:9e9b7db60fd5 63 memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi);
garyservin 0:9e9b7db60fd5 64 offset += length_nodeletsi;
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66 return offset;
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 uint32_t nodelets_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 73 nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 74 nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 75 nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->nodelets_length);
garyservin 0:9e9b7db60fd5 77 if(nodelets_lengthT > nodelets_length)
garyservin 0:9e9b7db60fd5 78 this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 79 nodelets_length = nodelets_lengthT;
garyservin 0:9e9b7db60fd5 80 for( uint32_t i = 0; i < nodelets_length; i++){
garyservin 0:9e9b7db60fd5 81 uint32_t length_st_nodelets;
garyservin 0:9e9b7db60fd5 82 arrToVar(length_st_nodelets, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 83 offset += 4;
garyservin 0:9e9b7db60fd5 84 for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){
garyservin 0:9e9b7db60fd5 85 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 inbuffer[offset+length_st_nodelets-1]=0;
garyservin 0:9e9b7db60fd5 88 this->st_nodelets = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 89 offset += length_st_nodelets;
garyservin 0:9e9b7db60fd5 90 memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*));
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92 return offset;
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 const char * getType(){ return NODELETLIST; };
garyservin 0:9e9b7db60fd5 96 const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 };
garyservin 0:9e9b7db60fd5 99
garyservin 0:9e9b7db60fd5 100 class NodeletList {
garyservin 0:9e9b7db60fd5 101 public:
garyservin 0:9e9b7db60fd5 102 typedef NodeletListRequest Request;
garyservin 0:9e9b7db60fd5 103 typedef NodeletListResponse Response;
garyservin 0:9e9b7db60fd5 104 };
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 }
garyservin 0:9e9b7db60fd5 107 #endif