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/NavSatFix.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_NavSatFix_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_NavSatFix_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 "sensor_msgs/NavSatStatus.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 NavSatFix : 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 sensor_msgs::NavSatStatus _status_type;
garyservin 0:9e9b7db60fd5 20 _status_type status;
garyservin 0:9e9b7db60fd5 21 typedef double _latitude_type;
garyservin 0:9e9b7db60fd5 22 _latitude_type latitude;
garyservin 0:9e9b7db60fd5 23 typedef double _longitude_type;
garyservin 0:9e9b7db60fd5 24 _longitude_type longitude;
garyservin 0:9e9b7db60fd5 25 typedef double _altitude_type;
garyservin 0:9e9b7db60fd5 26 _altitude_type altitude;
garyservin 0:9e9b7db60fd5 27 double position_covariance[9];
garyservin 0:9e9b7db60fd5 28 typedef uint8_t _position_covariance_type_type;
garyservin 0:9e9b7db60fd5 29 _position_covariance_type_type position_covariance_type;
garyservin 0:9e9b7db60fd5 30 enum { COVARIANCE_TYPE_UNKNOWN = 0 };
garyservin 0:9e9b7db60fd5 31 enum { COVARIANCE_TYPE_APPROXIMATED = 1 };
garyservin 0:9e9b7db60fd5 32 enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 };
garyservin 0:9e9b7db60fd5 33 enum { COVARIANCE_TYPE_KNOWN = 3 };
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 NavSatFix():
garyservin 0:9e9b7db60fd5 36 header(),
garyservin 0:9e9b7db60fd5 37 status(),
garyservin 0:9e9b7db60fd5 38 latitude(0),
garyservin 0:9e9b7db60fd5 39 longitude(0),
garyservin 0:9e9b7db60fd5 40 altitude(0),
garyservin 0:9e9b7db60fd5 41 position_covariance(),
garyservin 0:9e9b7db60fd5 42 position_covariance_type(0)
garyservin 0:9e9b7db60fd5 43 {
garyservin 0:9e9b7db60fd5 44 }
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 int offset = 0;
garyservin 0:9e9b7db60fd5 49 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 50 offset += this->status.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 51 union {
garyservin 0:9e9b7db60fd5 52 double real;
garyservin 0:9e9b7db60fd5 53 uint64_t base;
garyservin 0:9e9b7db60fd5 54 } u_latitude;
garyservin 0:9e9b7db60fd5 55 u_latitude.real = this->latitude;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->latitude);
garyservin 0:9e9b7db60fd5 65 union {
garyservin 0:9e9b7db60fd5 66 double real;
garyservin 0:9e9b7db60fd5 67 uint64_t base;
garyservin 0:9e9b7db60fd5 68 } u_longitude;
garyservin 0:9e9b7db60fd5 69 u_longitude.real = this->longitude;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->longitude);
garyservin 0:9e9b7db60fd5 79 union {
garyservin 0:9e9b7db60fd5 80 double real;
garyservin 0:9e9b7db60fd5 81 uint64_t base;
garyservin 0:9e9b7db60fd5 82 } u_altitude;
garyservin 0:9e9b7db60fd5 83 u_altitude.real = this->altitude;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->altitude);
garyservin 0:9e9b7db60fd5 93 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 94 union {
garyservin 0:9e9b7db60fd5 95 double real;
garyservin 0:9e9b7db60fd5 96 uint64_t base;
garyservin 0:9e9b7db60fd5 97 } u_position_covariancei;
garyservin 0:9e9b7db60fd5 98 u_position_covariancei.real = this->position_covariance[i];
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 offset += sizeof(this->position_covariance[i]);
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 offset += sizeof(this->position_covariance_type);
garyservin 0:9e9b7db60fd5 111 return offset;
garyservin 0:9e9b7db60fd5 112 }
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 115 {
garyservin 0:9e9b7db60fd5 116 int offset = 0;
garyservin 0:9e9b7db60fd5 117 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 118 offset += this->status.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 119 union {
garyservin 0:9e9b7db60fd5 120 double real;
garyservin 0:9e9b7db60fd5 121 uint64_t base;
garyservin 0:9e9b7db60fd5 122 } u_latitude;
garyservin 0:9e9b7db60fd5 123 u_latitude.base = 0;
garyservin 0:9e9b7db60fd5 124 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 125 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 126 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 127 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 128 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 129 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 130 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 131 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 132 this->latitude = u_latitude.real;
garyservin 0:9e9b7db60fd5 133 offset += sizeof(this->latitude);
garyservin 0:9e9b7db60fd5 134 union {
garyservin 0:9e9b7db60fd5 135 double real;
garyservin 0:9e9b7db60fd5 136 uint64_t base;
garyservin 0:9e9b7db60fd5 137 } u_longitude;
garyservin 0:9e9b7db60fd5 138 u_longitude.base = 0;
garyservin 0:9e9b7db60fd5 139 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 140 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 141 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 142 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 143 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 144 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 145 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 146 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 147 this->longitude = u_longitude.real;
garyservin 0:9e9b7db60fd5 148 offset += sizeof(this->longitude);
garyservin 0:9e9b7db60fd5 149 union {
garyservin 0:9e9b7db60fd5 150 double real;
garyservin 0:9e9b7db60fd5 151 uint64_t base;
garyservin 0:9e9b7db60fd5 152 } u_altitude;
garyservin 0:9e9b7db60fd5 153 u_altitude.base = 0;
garyservin 0:9e9b7db60fd5 154 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 155 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 156 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 157 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 158 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 159 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 160 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 161 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 162 this->altitude = u_altitude.real;
garyservin 0:9e9b7db60fd5 163 offset += sizeof(this->altitude);
garyservin 0:9e9b7db60fd5 164 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 165 union {
garyservin 0:9e9b7db60fd5 166 double real;
garyservin 0:9e9b7db60fd5 167 uint64_t base;
garyservin 0:9e9b7db60fd5 168 } u_position_covariancei;
garyservin 0:9e9b7db60fd5 169 u_position_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 170 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 171 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 172 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 173 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 174 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 175 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 176 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 177 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 178 this->position_covariance[i] = u_position_covariancei.real;
garyservin 0:9e9b7db60fd5 179 offset += sizeof(this->position_covariance[i]);
garyservin 0:9e9b7db60fd5 180 }
garyservin 0:9e9b7db60fd5 181 this->position_covariance_type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 182 offset += sizeof(this->position_covariance_type);
garyservin 0:9e9b7db60fd5 183 return offset;
garyservin 0:9e9b7db60fd5 184 }
garyservin 0:9e9b7db60fd5 185
garyservin 0:9e9b7db60fd5 186 const char * getType(){ return "sensor_msgs/NavSatFix"; };
garyservin 0:9e9b7db60fd5 187 const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
garyservin 0:9e9b7db60fd5 188
garyservin 0:9e9b7db60fd5 189 };
garyservin 0:9e9b7db60fd5 190
garyservin 0:9e9b7db60fd5 191 }
garyservin 0:9e9b7db60fd5 192 #endif