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/MultiArrayDimension.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_MultiArrayDimension_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_std_msgs_MultiArrayDimension_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 std_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class MultiArrayDimension : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _label_type;
garyservin 0:9e9b7db60fd5 16 _label_type label;
garyservin 0:9e9b7db60fd5 17 typedef uint32_t _size_type;
garyservin 0:9e9b7db60fd5 18 _size_type size;
garyservin 0:9e9b7db60fd5 19 typedef uint32_t _stride_type;
garyservin 0:9e9b7db60fd5 20 _stride_type stride;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 MultiArrayDimension():
garyservin 0:9e9b7db60fd5 23 label(""),
garyservin 0:9e9b7db60fd5 24 size(0),
garyservin 0:9e9b7db60fd5 25 stride(0)
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 uint32_t length_label = strlen(this->label);
garyservin 0:9e9b7db60fd5 33 varToArr(outbuffer + offset, length_label);
garyservin 0:9e9b7db60fd5 34 offset += 4;
garyservin 0:9e9b7db60fd5 35 memcpy(outbuffer + offset, this->label, length_label);
garyservin 0:9e9b7db60fd5 36 offset += length_label;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 0) = (this->size >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 1) = (this->size >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 2) = (this->size >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 3) = (this->size >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 offset += sizeof(this->size);
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 0) = (this->stride >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 1) = (this->stride >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 2) = (this->stride >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 3) = (this->stride >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->stride);
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 int offset = 0;
garyservin 0:9e9b7db60fd5 53 uint32_t length_label;
garyservin 0:9e9b7db60fd5 54 arrToVar(length_label, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 55 offset += 4;
garyservin 0:9e9b7db60fd5 56 for(unsigned int k= offset; k< offset+length_label; ++k){
garyservin 0:9e9b7db60fd5 57 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59 inbuffer[offset+length_label-1]=0;
garyservin 0:9e9b7db60fd5 60 this->label = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 61 offset += length_label;
garyservin 0:9e9b7db60fd5 62 this->size = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 63 this->size |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 64 this->size |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 65 this->size |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->size);
garyservin 0:9e9b7db60fd5 67 this->stride = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 68 this->stride |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 69 this->stride |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 70 this->stride |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->stride);
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 const char * getType(){ return "std_msgs/MultiArrayDimension"; };
garyservin 0:9e9b7db60fd5 76 const char * getMD5(){ return "4cd0c83a8683deae40ecdac60e53bfa8"; };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 };
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 #endif