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

smach_msgs/SmachContainerInitialStatusCmd.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_smach_msgs_SmachContainerInitialStatusCmd_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_smach_msgs_SmachContainerInitialStatusCmd_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 smach_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class SmachContainerInitialStatusCmd : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _path_type;
garyservin 0:9e9b7db60fd5 16 _path_type path;
garyservin 0:9e9b7db60fd5 17 uint32_t initial_states_length;
garyservin 0:9e9b7db60fd5 18 typedef char* _initial_states_type;
garyservin 0:9e9b7db60fd5 19 _initial_states_type st_initial_states;
garyservin 0:9e9b7db60fd5 20 _initial_states_type * initial_states;
garyservin 0:9e9b7db60fd5 21 typedef const char* _local_data_type;
garyservin 0:9e9b7db60fd5 22 _local_data_type local_data;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 SmachContainerInitialStatusCmd():
garyservin 0:9e9b7db60fd5 25 path(""),
garyservin 0:9e9b7db60fd5 26 initial_states_length(0), initial_states(NULL),
garyservin 0:9e9b7db60fd5 27 local_data("")
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 }
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 int offset = 0;
garyservin 0:9e9b7db60fd5 34 uint32_t length_path = strlen(this->path);
garyservin 0:9e9b7db60fd5 35 varToArr(outbuffer + offset, length_path);
garyservin 0:9e9b7db60fd5 36 offset += 4;
garyservin 0:9e9b7db60fd5 37 memcpy(outbuffer + offset, this->path, length_path);
garyservin 0:9e9b7db60fd5 38 offset += length_path;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->initial_states_length);
garyservin 0:9e9b7db60fd5 44 for( uint32_t i = 0; i < initial_states_length; i++){
garyservin 0:9e9b7db60fd5 45 uint32_t length_initial_statesi = strlen(this->initial_states[i]);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_initial_statesi);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
garyservin 0:9e9b7db60fd5 49 offset += length_initial_statesi;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51 uint32_t length_local_data = strlen(this->local_data);
garyservin 0:9e9b7db60fd5 52 varToArr(outbuffer + offset, length_local_data);
garyservin 0:9e9b7db60fd5 53 offset += 4;
garyservin 0:9e9b7db60fd5 54 memcpy(outbuffer + offset, this->local_data, length_local_data);
garyservin 0:9e9b7db60fd5 55 offset += length_local_data;
garyservin 0:9e9b7db60fd5 56 return offset;
garyservin 0:9e9b7db60fd5 57 }
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 int offset = 0;
garyservin 0:9e9b7db60fd5 62 uint32_t length_path;
garyservin 0:9e9b7db60fd5 63 arrToVar(length_path, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 64 offset += 4;
garyservin 0:9e9b7db60fd5 65 for(unsigned int k= offset; k< offset+length_path; ++k){
garyservin 0:9e9b7db60fd5 66 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 inbuffer[offset+length_path-1]=0;
garyservin 0:9e9b7db60fd5 69 this->path = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 70 offset += length_path;
garyservin 0:9e9b7db60fd5 71 uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 72 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 73 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 74 initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 75 offset += sizeof(this->initial_states_length);
garyservin 0:9e9b7db60fd5 76 if(initial_states_lengthT > initial_states_length)
garyservin 0:9e9b7db60fd5 77 this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 78 initial_states_length = initial_states_lengthT;
garyservin 0:9e9b7db60fd5 79 for( uint32_t i = 0; i < initial_states_length; i++){
garyservin 0:9e9b7db60fd5 80 uint32_t length_st_initial_states;
garyservin 0:9e9b7db60fd5 81 arrToVar(length_st_initial_states, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 82 offset += 4;
garyservin 0:9e9b7db60fd5 83 for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
garyservin 0:9e9b7db60fd5 84 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 inbuffer[offset+length_st_initial_states-1]=0;
garyservin 0:9e9b7db60fd5 87 this->st_initial_states = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 88 offset += length_st_initial_states;
garyservin 0:9e9b7db60fd5 89 memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
garyservin 0:9e9b7db60fd5 90 }
garyservin 0:9e9b7db60fd5 91 uint32_t length_local_data;
garyservin 0:9e9b7db60fd5 92 arrToVar(length_local_data, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 93 offset += 4;
garyservin 0:9e9b7db60fd5 94 for(unsigned int k= offset; k< offset+length_local_data; ++k){
garyservin 0:9e9b7db60fd5 95 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97 inbuffer[offset+length_local_data-1]=0;
garyservin 0:9e9b7db60fd5 98 this->local_data = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 99 offset += length_local_data;
garyservin 0:9e9b7db60fd5 100 return offset;
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102
garyservin 0:9e9b7db60fd5 103 const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; };
garyservin 0:9e9b7db60fd5 104 const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; };
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 };
garyservin 0:9e9b7db60fd5 107
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 #endif