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_srvs/Trigger.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_SERVICE_Trigger_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_Trigger_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace std_srvs
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char TRIGGER[] = "std_srvs/Trigger";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TriggerRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 TriggerRequest()
garyservin 0:9e9b7db60fd5 18 {
garyservin 0:9e9b7db60fd5 19 }
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 int offset = 0;
garyservin 0:9e9b7db60fd5 24 return offset;
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 return offset;
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 const char * getType(){ return TRIGGER; };
garyservin 0:9e9b7db60fd5 34 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 class TriggerResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 42 _success_type success;
garyservin 0:9e9b7db60fd5 43 typedef const char* _message_type;
garyservin 0:9e9b7db60fd5 44 _message_type message;
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 TriggerResponse():
garyservin 0:9e9b7db60fd5 47 success(0),
garyservin 0:9e9b7db60fd5 48 message("")
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 bool real;
garyservin 0:9e9b7db60fd5 57 uint8_t base;
garyservin 0:9e9b7db60fd5 58 } u_success;
garyservin 0:9e9b7db60fd5 59 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 62 uint32_t length_message = strlen(this->message);
garyservin 0:9e9b7db60fd5 63 varToArr(outbuffer + offset, length_message);
garyservin 0:9e9b7db60fd5 64 offset += 4;
garyservin 0:9e9b7db60fd5 65 memcpy(outbuffer + offset, this->message, length_message);
garyservin 0:9e9b7db60fd5 66 offset += length_message;
garyservin 0:9e9b7db60fd5 67 return offset;
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 71 {
garyservin 0:9e9b7db60fd5 72 int offset = 0;
garyservin 0:9e9b7db60fd5 73 union {
garyservin 0:9e9b7db60fd5 74 bool real;
garyservin 0:9e9b7db60fd5 75 uint8_t base;
garyservin 0:9e9b7db60fd5 76 } u_success;
garyservin 0:9e9b7db60fd5 77 u_success.base = 0;
garyservin 0:9e9b7db60fd5 78 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 79 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 80 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 81 uint32_t length_message;
garyservin 0:9e9b7db60fd5 82 arrToVar(length_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 83 offset += 4;
garyservin 0:9e9b7db60fd5 84 for(unsigned int k= offset; k< offset+length_message; ++k){
garyservin 0:9e9b7db60fd5 85 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 inbuffer[offset+length_message-1]=0;
garyservin 0:9e9b7db60fd5 88 this->message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 89 offset += length_message;
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 const char * getType(){ return TRIGGER; };
garyservin 0:9e9b7db60fd5 94 const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 class Trigger {
garyservin 0:9e9b7db60fd5 99 public:
garyservin 0:9e9b7db60fd5 100 typedef TriggerRequest Request;
garyservin 0:9e9b7db60fd5 101 typedef TriggerResponse Response;
garyservin 0:9e9b7db60fd5 102 };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105 #endif