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

pcl_msgs/PolygonMesh.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_pcl_msgs_PolygonMesh_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_pcl_msgs_PolygonMesh_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 "sensor_msgs/PointCloud2.h"
garyservin 0:9e9b7db60fd5 10 #include "pcl_msgs/Vertices.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace pcl_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class PolygonMesh : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 19 _header_type header;
garyservin 0:9e9b7db60fd5 20 typedef sensor_msgs::PointCloud2 _cloud_type;
garyservin 0:9e9b7db60fd5 21 _cloud_type cloud;
garyservin 0:9e9b7db60fd5 22 uint32_t polygons_length;
garyservin 0:9e9b7db60fd5 23 typedef pcl_msgs::Vertices _polygons_type;
garyservin 0:9e9b7db60fd5 24 _polygons_type st_polygons;
garyservin 0:9e9b7db60fd5 25 _polygons_type * polygons;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 PolygonMesh():
garyservin 0:9e9b7db60fd5 28 header(),
garyservin 0:9e9b7db60fd5 29 cloud(),
garyservin 0:9e9b7db60fd5 30 polygons_length(0), polygons(NULL)
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 }
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 int offset = 0;
garyservin 0:9e9b7db60fd5 37 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 38 offset += this->cloud.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->polygons_length);
garyservin 0:9e9b7db60fd5 44 for( uint32_t i = 0; i < polygons_length; i++){
garyservin 0:9e9b7db60fd5 45 offset += this->polygons[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 int offset = 0;
garyservin 0:9e9b7db60fd5 53 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 54 offset += this->cloud.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 55 uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 56 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 57 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 58 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->polygons_length);
garyservin 0:9e9b7db60fd5 60 if(polygons_lengthT > polygons_length)
garyservin 0:9e9b7db60fd5 61 this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
garyservin 0:9e9b7db60fd5 62 polygons_length = polygons_lengthT;
garyservin 0:9e9b7db60fd5 63 for( uint32_t i = 0; i < polygons_length; i++){
garyservin 0:9e9b7db60fd5 64 offset += this->st_polygons.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 65 memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
garyservin 0:9e9b7db60fd5 66 }
garyservin 0:9e9b7db60fd5 67 return offset;
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 const char * getType(){ return "pcl_msgs/PolygonMesh"; };
garyservin 0:9e9b7db60fd5 71 const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 };
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76 #endif