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

shape_msgs/Mesh.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_shape_msgs_Mesh_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_shape_msgs_Mesh_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 "shape_msgs/MeshTriangle.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Point.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace shape_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class Mesh : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 uint32_t triangles_length;
garyservin 0:9e9b7db60fd5 18 typedef shape_msgs::MeshTriangle _triangles_type;
garyservin 0:9e9b7db60fd5 19 _triangles_type st_triangles;
garyservin 0:9e9b7db60fd5 20 _triangles_type * triangles;
garyservin 0:9e9b7db60fd5 21 uint32_t vertices_length;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Point _vertices_type;
garyservin 0:9e9b7db60fd5 23 _vertices_type st_vertices;
garyservin 0:9e9b7db60fd5 24 _vertices_type * vertices;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 Mesh():
garyservin 0:9e9b7db60fd5 27 triangles_length(0), triangles(NULL),
garyservin 0:9e9b7db60fd5 28 vertices_length(0), vertices(NULL)
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->triangles_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->triangles_length);
garyservin 0:9e9b7db60fd5 40 for( uint32_t i = 0; i < triangles_length; i++){
garyservin 0:9e9b7db60fd5 41 offset += this->triangles[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 48 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 49 offset += this->vertices[i].serialize(outbuffer + offset);
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 uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 59 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 60 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->triangles_length);
garyservin 0:9e9b7db60fd5 62 if(triangles_lengthT > triangles_length)
garyservin 0:9e9b7db60fd5 63 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
garyservin 0:9e9b7db60fd5 64 triangles_length = triangles_lengthT;
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < triangles_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->st_triangles.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 67 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69 uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 70 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 71 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 72 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 74 if(vertices_lengthT > vertices_length)
garyservin 0:9e9b7db60fd5 75 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 76 vertices_length = vertices_lengthT;
garyservin 0:9e9b7db60fd5 77 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 78 offset += this->st_vertices.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 return offset;
garyservin 0:9e9b7db60fd5 82 }
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 const char * getType(){ return "shape_msgs/Mesh"; };
garyservin 0:9e9b7db60fd5 85 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 };
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 #endif