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

std_msgs/Float64MultiArray.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_std_msgs_Float64MultiArray_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_std_msgs_Float64MultiArray_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/MultiArrayLayout.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace std_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Float64MultiArray : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::MultiArrayLayout _layout_type;
garyservin 0:9e9b7db60fd5 17 _layout_type layout;
garyservin 0:9e9b7db60fd5 18 uint32_t data_length;
garyservin 0:9e9b7db60fd5 19 typedef double _data_type;
garyservin 0:9e9b7db60fd5 20 _data_type st_data;
garyservin 0:9e9b7db60fd5 21 _data_type * data;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 Float64MultiArray():
garyservin 0:9e9b7db60fd5 24 layout(),
garyservin 0:9e9b7db60fd5 25 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 offset += this->layout.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 38 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 double real;
garyservin 0:9e9b7db60fd5 41 uint64_t base;
garyservin 0:9e9b7db60fd5 42 } u_datai;
garyservin 0:9e9b7db60fd5 43 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54 return offset;
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56
garyservin 0:9e9b7db60fd5 57 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 int offset = 0;
garyservin 0:9e9b7db60fd5 60 offset += this->layout.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 61 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 62 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 63 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 64 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 66 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 67 this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 68 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 69 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 70 union {
garyservin 0:9e9b7db60fd5 71 double real;
garyservin 0:9e9b7db60fd5 72 uint64_t base;
garyservin 0:9e9b7db60fd5 73 } u_st_data;
garyservin 0:9e9b7db60fd5 74 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 75 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 76 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 77 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 78 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 79 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 80 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 81 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 82 u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 83 this->st_data = u_st_data.real;
garyservin 0:9e9b7db60fd5 84 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 85 memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 const char * getType(){ return "std_msgs/Float64MultiArray"; };
garyservin 0:9e9b7db60fd5 91 const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 #endif