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/MultiArrayLayout.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_MultiArrayLayout_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_std_msgs_MultiArrayLayout_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/MultiArrayDimension.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 MultiArrayLayout : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 uint32_t dim_length;
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::MultiArrayDimension _dim_type;
garyservin 0:9e9b7db60fd5 18 _dim_type st_dim;
garyservin 0:9e9b7db60fd5 19 _dim_type * dim;
garyservin 0:9e9b7db60fd5 20 typedef uint32_t _data_offset_type;
garyservin 0:9e9b7db60fd5 21 _data_offset_type data_offset;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 MultiArrayLayout():
garyservin 0:9e9b7db60fd5 24 dim_length(0), dim(NULL),
garyservin 0:9e9b7db60fd5 25 data_offset(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 *(outbuffer + offset + 0) = (this->dim_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 1) = (this->dim_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 2) = (this->dim_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 3) = (this->dim_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 offset += sizeof(this->dim_length);
garyservin 0:9e9b7db60fd5 37 for( uint32_t i = 0; i < dim_length; i++){
garyservin 0:9e9b7db60fd5 38 offset += this->dim[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->data_offset);
garyservin 0:9e9b7db60fd5 45 return offset;
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47
garyservin 0:9e9b7db60fd5 48 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 int offset = 0;
garyservin 0:9e9b7db60fd5 51 uint32_t dim_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 52 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 53 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 54 dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->dim_length);
garyservin 0:9e9b7db60fd5 56 if(dim_lengthT > dim_length)
garyservin 0:9e9b7db60fd5 57 this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
garyservin 0:9e9b7db60fd5 58 dim_length = dim_lengthT;
garyservin 0:9e9b7db60fd5 59 for( uint32_t i = 0; i < dim_length; i++){
garyservin 0:9e9b7db60fd5 60 offset += this->st_dim.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 61 memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63 this->data_offset = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 64 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 65 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 66 this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->data_offset);
garyservin 0:9e9b7db60fd5 68 return offset;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 const char * getType(){ return "std_msgs/MultiArrayLayout"; };
garyservin 0:9e9b7db60fd5 72 const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77 #endif