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/LaserEcho.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_LaserEcho_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_LaserEcho_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 LaserEcho : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 uint32_t echoes_length;
garyservin 0:9e9b7db60fd5 16 typedef float _echoes_type;
garyservin 0:9e9b7db60fd5 17 _echoes_type st_echoes;
garyservin 0:9e9b7db60fd5 18 _echoes_type * echoes;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 LaserEcho():
garyservin 0:9e9b7db60fd5 21 echoes_length(0), echoes(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->echoes_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 1) = (this->echoes_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 2) = (this->echoes_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 3) = (this->echoes_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 offset += sizeof(this->echoes_length);
garyservin 0:9e9b7db60fd5 33 for( uint32_t i = 0; i < echoes_length; i++){
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 float real;
garyservin 0:9e9b7db60fd5 36 uint32_t base;
garyservin 0:9e9b7db60fd5 37 } u_echoesi;
garyservin 0:9e9b7db60fd5 38 u_echoesi.real = this->echoes[i];
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->echoes[i]);
garyservin 0:9e9b7db60fd5 44 }
garyservin 0:9e9b7db60fd5 45 return offset;
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47
garyservin 0:9e9b7db60fd5 48 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 int offset = 0;
garyservin 0:9e9b7db60fd5 51 uint32_t echoes_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 52 echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 53 echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 54 echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->echoes_length);
garyservin 0:9e9b7db60fd5 56 if(echoes_lengthT > echoes_length)
garyservin 0:9e9b7db60fd5 57 this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 58 echoes_length = echoes_lengthT;
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < echoes_length; i++){
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 float real;
garyservin 0:9e9b7db60fd5 62 uint32_t base;
garyservin 0:9e9b7db60fd5 63 } u_st_echoes;
garyservin 0:9e9b7db60fd5 64 u_st_echoes.base = 0;
garyservin 0:9e9b7db60fd5 65 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 66 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 69 this->st_echoes = u_st_echoes.real;
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->st_echoes);
garyservin 0:9e9b7db60fd5 71 memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float));
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 return offset;
garyservin 0:9e9b7db60fd5 74 }
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 const char * getType(){ return "sensor_msgs/LaserEcho"; };
garyservin 0:9e9b7db60fd5 77 const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; };
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 #endif