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/MagneticField.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_MagneticField_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_MagneticField_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 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class MagneticField : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef geometry_msgs::Vector3 _magnetic_field_type;
garyservin 0:9e9b7db60fd5 20 _magnetic_field_type magnetic_field;
garyservin 0:9e9b7db60fd5 21 double magnetic_field_covariance[9];
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 MagneticField():
garyservin 0:9e9b7db60fd5 24 header(),
garyservin 0:9e9b7db60fd5 25 magnetic_field(),
garyservin 0:9e9b7db60fd5 26 magnetic_field_covariance()
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 offset += this->magnetic_field.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 35 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 36 union {
garyservin 0:9e9b7db60fd5 37 double real;
garyservin 0:9e9b7db60fd5 38 uint64_t base;
garyservin 0:9e9b7db60fd5 39 } u_magnetic_field_covariancei;
garyservin 0:9e9b7db60fd5 40 u_magnetic_field_covariancei.real = this->magnetic_field_covariance[i];
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (u_magnetic_field_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 1) = (u_magnetic_field_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 2) = (u_magnetic_field_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 3) = (u_magnetic_field_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 4) = (u_magnetic_field_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 5) = (u_magnetic_field_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 6) = (u_magnetic_field_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 7) = (u_magnetic_field_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->magnetic_field_covariance[i]);
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51 return offset;
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53
garyservin 0:9e9b7db60fd5 54 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 55 {
garyservin 0:9e9b7db60fd5 56 int offset = 0;
garyservin 0:9e9b7db60fd5 57 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 58 offset += this->magnetic_field.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 60 union {
garyservin 0:9e9b7db60fd5 61 double real;
garyservin 0:9e9b7db60fd5 62 uint64_t base;
garyservin 0:9e9b7db60fd5 63 } u_magnetic_field_covariancei;
garyservin 0:9e9b7db60fd5 64 u_magnetic_field_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 65 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 66 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 69 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 70 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 71 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 72 u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 73 this->magnetic_field_covariance[i] = u_magnetic_field_covariancei.real;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->magnetic_field_covariance[i]);
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76 return offset;
garyservin 0:9e9b7db60fd5 77 }
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 const char * getType(){ return "sensor_msgs/MagneticField"; };
garyservin 0:9e9b7db60fd5 80 const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; };
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 #endif