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/Vertices.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_Vertices_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_pcl_msgs_Vertices_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
garyservin 0:9e9b7db60fd5 9 namespace pcl_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Vertices : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 uint32_t vertices_length;
garyservin 0:9e9b7db60fd5 16 typedef uint32_t _vertices_type;
garyservin 0:9e9b7db60fd5 17 _vertices_type st_vertices;
garyservin 0:9e9b7db60fd5 18 _vertices_type * vertices;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 Vertices():
garyservin 0:9e9b7db60fd5 21 vertices_length(0), vertices(NULL)
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 }
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 int offset = 0;
garyservin 0:9e9b7db60fd5 28 *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 33 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (this->vertices[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (this->vertices[i] >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (this->vertices[i] >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (this->vertices[i] >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->vertices[i]);
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40 return offset;
garyservin 0:9e9b7db60fd5 41 }
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 int offset = 0;
garyservin 0:9e9b7db60fd5 46 uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 47 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 48 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 49 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 50 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 51 if(vertices_lengthT > vertices_length)
garyservin 0:9e9b7db60fd5 52 this->vertices = (uint32_t*)realloc(this->vertices, vertices_lengthT * sizeof(uint32_t));
garyservin 0:9e9b7db60fd5 53 vertices_length = vertices_lengthT;
garyservin 0:9e9b7db60fd5 54 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 55 this->st_vertices = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 56 this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 57 this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 58 this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->st_vertices);
garyservin 0:9e9b7db60fd5 60 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(uint32_t));
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62 return offset;
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 const char * getType(){ return "pcl_msgs/Vertices"; };
garyservin 0:9e9b7db60fd5 66 const char * getMD5(){ return "39bd7b1c23763ddd1b882b97cb7cfe11"; };
garyservin 0:9e9b7db60fd5 67
garyservin 0:9e9b7db60fd5 68 };
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 }
garyservin 0:9e9b7db60fd5 71 #endif