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

sensor_msgs/JoyFeedback.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_sensor_msgs_JoyFeedback_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_JoyFeedback_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 sensor_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class JoyFeedback : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint8_t _type_type;
garyservin 0:9e9b7db60fd5 16 _type_type type;
garyservin 0:9e9b7db60fd5 17 typedef uint8_t _id_type;
garyservin 0:9e9b7db60fd5 18 _id_type id;
garyservin 0:9e9b7db60fd5 19 typedef float _intensity_type;
garyservin 0:9e9b7db60fd5 20 _intensity_type intensity;
garyservin 0:9e9b7db60fd5 21 enum { TYPE_LED = 0 };
garyservin 0:9e9b7db60fd5 22 enum { TYPE_RUMBLE = 1 };
garyservin 0:9e9b7db60fd5 23 enum { TYPE_BUZZER = 2 };
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 JoyFeedback():
garyservin 0:9e9b7db60fd5 26 type(0),
garyservin 0:9e9b7db60fd5 27 id(0),
garyservin 0:9e9b7db60fd5 28 intensity(0)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 float real;
garyservin 0:9e9b7db60fd5 41 uint32_t base;
garyservin 0:9e9b7db60fd5 42 } u_intensity;
garyservin 0:9e9b7db60fd5 43 u_intensity.real = this->intensity;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_intensity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (u_intensity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (u_intensity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (u_intensity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->intensity);
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 57 this->id = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 float real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_intensity;
garyservin 0:9e9b7db60fd5 63 u_intensity.base = 0;
garyservin 0:9e9b7db60fd5 64 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 65 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 66 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 67 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 68 this->intensity = u_intensity.real;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->intensity);
garyservin 0:9e9b7db60fd5 70 return offset;
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 const char * getType(){ return "sensor_msgs/JoyFeedback"; };
garyservin 0:9e9b7db60fd5 74 const char * getMD5(){ return "f4dcd73460360d98f36e55ee7f2e46f1"; };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 #endif