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/Header.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_Header_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_std_msgs_Header_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 "ros/time.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 Header : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef uint32_t _seq_type;
garyservin 0:9e9b7db60fd5 17 _seq_type seq;
garyservin 0:9e9b7db60fd5 18 typedef ros::Time _stamp_type;
garyservin 0:9e9b7db60fd5 19 _stamp_type stamp;
garyservin 0:9e9b7db60fd5 20 typedef const char* _frame_id_type;
garyservin 0:9e9b7db60fd5 21 _frame_id_type frame_id;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 Header():
garyservin 0:9e9b7db60fd5 24 seq(0),
garyservin 0:9e9b7db60fd5 25 stamp(),
garyservin 0:9e9b7db60fd5 26 frame_id("")
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 offset += sizeof(this->seq);
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->stamp.sec);
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->stamp.nsec);
garyservin 0:9e9b7db60fd5 48 uint32_t length_frame_id = strlen(this->frame_id);
garyservin 0:9e9b7db60fd5 49 varToArr(outbuffer + offset, length_frame_id);
garyservin 0:9e9b7db60fd5 50 offset += 4;
garyservin 0:9e9b7db60fd5 51 memcpy(outbuffer + offset, this->frame_id, length_frame_id);
garyservin 0:9e9b7db60fd5 52 offset += length_frame_id;
garyservin 0:9e9b7db60fd5 53 return offset;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 57 {
garyservin 0:9e9b7db60fd5 58 int offset = 0;
garyservin 0:9e9b7db60fd5 59 this->seq = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 60 this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 61 this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 62 this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 63 offset += sizeof(this->seq);
garyservin 0:9e9b7db60fd5 64 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 65 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 66 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 67 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 68 offset += sizeof(this->stamp.sec);
garyservin 0:9e9b7db60fd5 69 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 70 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 71 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 72 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->stamp.nsec);
garyservin 0:9e9b7db60fd5 74 uint32_t length_frame_id;
garyservin 0:9e9b7db60fd5 75 arrToVar(length_frame_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 76 offset += 4;
garyservin 0:9e9b7db60fd5 77 for(unsigned int k= offset; k< offset+length_frame_id; ++k){
garyservin 0:9e9b7db60fd5 78 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80 inbuffer[offset+length_frame_id-1]=0;
garyservin 0:9e9b7db60fd5 81 this->frame_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 82 offset += length_frame_id;
garyservin 0:9e9b7db60fd5 83 return offset;
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 const char * getType(){ return "std_msgs/Header"; };
garyservin 0:9e9b7db60fd5 87 const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 };
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92 #endif