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/PointCloud2.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_PointCloud2_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_PointCloud2_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/PointField.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 PointCloud2 : 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 uint32_t _height_type;
garyservin 0:9e9b7db60fd5 20 _height_type height;
garyservin 0:9e9b7db60fd5 21 typedef uint32_t _width_type;
garyservin 0:9e9b7db60fd5 22 _width_type width;
garyservin 0:9e9b7db60fd5 23 uint32_t fields_length;
garyservin 0:9e9b7db60fd5 24 typedef sensor_msgs::PointField _fields_type;
garyservin 0:9e9b7db60fd5 25 _fields_type st_fields;
garyservin 0:9e9b7db60fd5 26 _fields_type * fields;
garyservin 0:9e9b7db60fd5 27 typedef bool _is_bigendian_type;
garyservin 0:9e9b7db60fd5 28 _is_bigendian_type is_bigendian;
garyservin 0:9e9b7db60fd5 29 typedef uint32_t _point_step_type;
garyservin 0:9e9b7db60fd5 30 _point_step_type point_step;
garyservin 0:9e9b7db60fd5 31 typedef uint32_t _row_step_type;
garyservin 0:9e9b7db60fd5 32 _row_step_type row_step;
garyservin 0:9e9b7db60fd5 33 uint32_t data_length;
garyservin 0:9e9b7db60fd5 34 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 35 _data_type st_data;
garyservin 0:9e9b7db60fd5 36 _data_type * data;
garyservin 0:9e9b7db60fd5 37 typedef bool _is_dense_type;
garyservin 0:9e9b7db60fd5 38 _is_dense_type is_dense;
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 PointCloud2():
garyservin 0:9e9b7db60fd5 41 header(),
garyservin 0:9e9b7db60fd5 42 height(0),
garyservin 0:9e9b7db60fd5 43 width(0),
garyservin 0:9e9b7db60fd5 44 fields_length(0), fields(NULL),
garyservin 0:9e9b7db60fd5 45 is_bigendian(0),
garyservin 0:9e9b7db60fd5 46 point_step(0),
garyservin 0:9e9b7db60fd5 47 row_step(0),
garyservin 0:9e9b7db60fd5 48 data_length(0), data(NULL),
garyservin 0:9e9b7db60fd5 49 is_dense(0)
garyservin 0:9e9b7db60fd5 50 {
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->fields_length);
garyservin 0:9e9b7db60fd5 72 for( uint32_t i = 0; i < fields_length; i++){
garyservin 0:9e9b7db60fd5 73 offset += this->fields[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 74 }
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 bool real;
garyservin 0:9e9b7db60fd5 77 uint8_t base;
garyservin 0:9e9b7db60fd5 78 } u_is_bigendian;
garyservin 0:9e9b7db60fd5 79 u_is_bigendian.real = this->is_bigendian;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->point_step);
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 offset += sizeof(this->row_step);
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 97 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101 union {
garyservin 0:9e9b7db60fd5 102 bool real;
garyservin 0:9e9b7db60fd5 103 uint8_t base;
garyservin 0:9e9b7db60fd5 104 } u_is_dense;
garyservin 0:9e9b7db60fd5 105 u_is_dense.real = this->is_dense;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 offset += sizeof(this->is_dense);
garyservin 0:9e9b7db60fd5 108 return offset;
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110
garyservin 0:9e9b7db60fd5 111 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 112 {
garyservin 0:9e9b7db60fd5 113 int offset = 0;
garyservin 0:9e9b7db60fd5 114 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 115 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 116 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 117 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 118 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 120 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 121 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 122 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 123 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 124 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 125 uint32_t fields_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 126 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 127 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 128 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->fields_length);
garyservin 0:9e9b7db60fd5 130 if(fields_lengthT > fields_length)
garyservin 0:9e9b7db60fd5 131 this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
garyservin 0:9e9b7db60fd5 132 fields_length = fields_lengthT;
garyservin 0:9e9b7db60fd5 133 for( uint32_t i = 0; i < fields_length; i++){
garyservin 0:9e9b7db60fd5 134 offset += this->st_fields.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 135 memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
garyservin 0:9e9b7db60fd5 136 }
garyservin 0:9e9b7db60fd5 137 union {
garyservin 0:9e9b7db60fd5 138 bool real;
garyservin 0:9e9b7db60fd5 139 uint8_t base;
garyservin 0:9e9b7db60fd5 140 } u_is_bigendian;
garyservin 0:9e9b7db60fd5 141 u_is_bigendian.base = 0;
garyservin 0:9e9b7db60fd5 142 u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 143 this->is_bigendian = u_is_bigendian.real;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 145 this->point_step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 146 this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 147 this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 148 this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 149 offset += sizeof(this->point_step);
garyservin 0:9e9b7db60fd5 150 this->row_step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 151 this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 152 this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 153 this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 154 offset += sizeof(this->row_step);
garyservin 0:9e9b7db60fd5 155 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 156 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 157 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 158 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 159 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 160 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 161 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 162 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 163 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 164 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 165 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 166 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 167 }
garyservin 0:9e9b7db60fd5 168 union {
garyservin 0:9e9b7db60fd5 169 bool real;
garyservin 0:9e9b7db60fd5 170 uint8_t base;
garyservin 0:9e9b7db60fd5 171 } u_is_dense;
garyservin 0:9e9b7db60fd5 172 u_is_dense.base = 0;
garyservin 0:9e9b7db60fd5 173 u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 174 this->is_dense = u_is_dense.real;
garyservin 0:9e9b7db60fd5 175 offset += sizeof(this->is_dense);
garyservin 0:9e9b7db60fd5 176 return offset;
garyservin 0:9e9b7db60fd5 177 }
garyservin 0:9e9b7db60fd5 178
garyservin 0:9e9b7db60fd5 179 const char * getType(){ return "sensor_msgs/PointCloud2"; };
garyservin 0:9e9b7db60fd5 180 const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
garyservin 0:9e9b7db60fd5 181
garyservin 0:9e9b7db60fd5 182 };
garyservin 0:9e9b7db60fd5 183
garyservin 0:9e9b7db60fd5 184 }
garyservin 0:9e9b7db60fd5 185 #endif