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

rosserial_msgs/Log.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_rosserial_msgs_Log_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rosserial_msgs_Log_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 rosserial_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Log : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint8_t _level_type;
garyservin 0:9e9b7db60fd5 16 _level_type level;
garyservin 0:9e9b7db60fd5 17 typedef const char* _msg_type;
garyservin 0:9e9b7db60fd5 18 _msg_type msg;
garyservin 0:9e9b7db60fd5 19 enum { ROSDEBUG = 0 };
garyservin 0:9e9b7db60fd5 20 enum { INFO = 1 };
garyservin 0:9e9b7db60fd5 21 enum { WARN = 2 };
garyservin 0:9e9b7db60fd5 22 enum { ERROR = 3 };
garyservin 0:9e9b7db60fd5 23 enum { FATAL = 4 };
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 Log():
garyservin 0:9e9b7db60fd5 26 level(0),
garyservin 0:9e9b7db60fd5 27 msg("")
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 }
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 int offset = 0;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 36 uint32_t length_msg = strlen(this->msg);
garyservin 0:9e9b7db60fd5 37 varToArr(outbuffer + offset, length_msg);
garyservin 0:9e9b7db60fd5 38 offset += 4;
garyservin 0:9e9b7db60fd5 39 memcpy(outbuffer + offset, this->msg, length_msg);
garyservin 0:9e9b7db60fd5 40 offset += length_msg;
garyservin 0:9e9b7db60fd5 41 return offset;
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 this->level = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 49 uint32_t length_msg;
garyservin 0:9e9b7db60fd5 50 arrToVar(length_msg, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 51 offset += 4;
garyservin 0:9e9b7db60fd5 52 for(unsigned int k= offset; k< offset+length_msg; ++k){
garyservin 0:9e9b7db60fd5 53 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 inbuffer[offset+length_msg-1]=0;
garyservin 0:9e9b7db60fd5 56 this->msg = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 57 offset += length_msg;
garyservin 0:9e9b7db60fd5 58 return offset;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 const char * getType(){ return "rosserial_msgs/Log"; };
garyservin 0:9e9b7db60fd5 62 const char * getMD5(){ return "11abd731c25933261cd6183bd12d6295"; };
garyservin 0:9e9b7db60fd5 63
garyservin 0:9e9b7db60fd5 64 };
garyservin 0:9e9b7db60fd5 65
garyservin 0:9e9b7db60fd5 66 }
garyservin 0:9e9b7db60fd5 67 #endif