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

rospy_tutorials/BadTwoInts.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_BadTwoInts_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_BadTwoInts_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 rospy_tutorials
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char BADTWOINTS[] = "rospy_tutorials/BadTwoInts";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class BadTwoIntsRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef int64_t _a_type;
garyservin 0:9e9b7db60fd5 17 _a_type a;
garyservin 0:9e9b7db60fd5 18 typedef int32_t _b_type;
garyservin 0:9e9b7db60fd5 19 _b_type b;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 BadTwoIntsRequest():
garyservin 0:9e9b7db60fd5 22 a(0),
garyservin 0:9e9b7db60fd5 23 b(0)
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 union {
garyservin 0:9e9b7db60fd5 31 int64_t real;
garyservin 0:9e9b7db60fd5 32 uint64_t base;
garyservin 0:9e9b7db60fd5 33 } u_a;
garyservin 0:9e9b7db60fd5 34 u_a.real = this->a;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->a);
garyservin 0:9e9b7db60fd5 44 union {
garyservin 0:9e9b7db60fd5 45 int32_t real;
garyservin 0:9e9b7db60fd5 46 uint32_t base;
garyservin 0:9e9b7db60fd5 47 } u_b;
garyservin 0:9e9b7db60fd5 48 u_b.real = this->b;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->b);
garyservin 0:9e9b7db60fd5 54 return offset;
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56
garyservin 0:9e9b7db60fd5 57 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 int offset = 0;
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 int64_t real;
garyservin 0:9e9b7db60fd5 62 uint64_t base;
garyservin 0:9e9b7db60fd5 63 } u_a;
garyservin 0:9e9b7db60fd5 64 u_a.base = 0;
garyservin 0:9e9b7db60fd5 65 u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 66 u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 69 u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 70 u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 71 u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 72 u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 73 this->a = u_a.real;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->a);
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 int32_t real;
garyservin 0:9e9b7db60fd5 77 uint32_t base;
garyservin 0:9e9b7db60fd5 78 } u_b;
garyservin 0:9e9b7db60fd5 79 u_b.base = 0;
garyservin 0:9e9b7db60fd5 80 u_b.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 81 u_b.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 82 u_b.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 83 u_b.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 84 this->b = u_b.real;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->b);
garyservin 0:9e9b7db60fd5 86 return offset;
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 const char * getType(){ return BADTWOINTS; };
garyservin 0:9e9b7db60fd5 90 const char * getMD5(){ return "29bb5c7dea8bf822f53e94b0ee5a3a56"; };
garyservin 0:9e9b7db60fd5 91
garyservin 0:9e9b7db60fd5 92 };
garyservin 0:9e9b7db60fd5 93
garyservin 0:9e9b7db60fd5 94 class BadTwoIntsResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 95 {
garyservin 0:9e9b7db60fd5 96 public:
garyservin 0:9e9b7db60fd5 97 typedef int32_t _sum_type;
garyservin 0:9e9b7db60fd5 98 _sum_type sum;
garyservin 0:9e9b7db60fd5 99
garyservin 0:9e9b7db60fd5 100 BadTwoIntsResponse():
garyservin 0:9e9b7db60fd5 101 sum(0)
garyservin 0:9e9b7db60fd5 102 {
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104
garyservin 0:9e9b7db60fd5 105 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 106 {
garyservin 0:9e9b7db60fd5 107 int offset = 0;
garyservin 0:9e9b7db60fd5 108 union {
garyservin 0:9e9b7db60fd5 109 int32_t real;
garyservin 0:9e9b7db60fd5 110 uint32_t base;
garyservin 0:9e9b7db60fd5 111 } u_sum;
garyservin 0:9e9b7db60fd5 112 u_sum.real = this->sum;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 offset += sizeof(this->sum);
garyservin 0:9e9b7db60fd5 118 return offset;
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 122 {
garyservin 0:9e9b7db60fd5 123 int offset = 0;
garyservin 0:9e9b7db60fd5 124 union {
garyservin 0:9e9b7db60fd5 125 int32_t real;
garyservin 0:9e9b7db60fd5 126 uint32_t base;
garyservin 0:9e9b7db60fd5 127 } u_sum;
garyservin 0:9e9b7db60fd5 128 u_sum.base = 0;
garyservin 0:9e9b7db60fd5 129 u_sum.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 130 u_sum.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 131 u_sum.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 132 u_sum.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 133 this->sum = u_sum.real;
garyservin 0:9e9b7db60fd5 134 offset += sizeof(this->sum);
garyservin 0:9e9b7db60fd5 135 return offset;
garyservin 0:9e9b7db60fd5 136 }
garyservin 0:9e9b7db60fd5 137
garyservin 0:9e9b7db60fd5 138 const char * getType(){ return BADTWOINTS; };
garyservin 0:9e9b7db60fd5 139 const char * getMD5(){ return "0ba699c25c9418c0366f3595c0c8e8ec"; };
garyservin 0:9e9b7db60fd5 140
garyservin 0:9e9b7db60fd5 141 };
garyservin 0:9e9b7db60fd5 142
garyservin 0:9e9b7db60fd5 143 class BadTwoInts {
garyservin 0:9e9b7db60fd5 144 public:
garyservin 0:9e9b7db60fd5 145 typedef BadTwoIntsRequest Request;
garyservin 0:9e9b7db60fd5 146 typedef BadTwoIntsResponse Response;
garyservin 0:9e9b7db60fd5 147 };
garyservin 0:9e9b7db60fd5 148
garyservin 0:9e9b7db60fd5 149 }
garyservin 0:9e9b7db60fd5 150 #endif