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

tf/FrameGraph.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_FrameGraph_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_FrameGraph_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 tf
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class FrameGraphRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 FrameGraphRequest()
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 FRAMEGRAPH; };
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 FrameGraphResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 public:
garyservin 0:9e9b7db60fd5 41 typedef const char* _dot_graph_type;
garyservin 0:9e9b7db60fd5 42 _dot_graph_type dot_graph;
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 FrameGraphResponse():
garyservin 0:9e9b7db60fd5 45 dot_graph("")
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 }
garyservin 0:9e9b7db60fd5 48
garyservin 0:9e9b7db60fd5 49 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 50 {
garyservin 0:9e9b7db60fd5 51 int offset = 0;
garyservin 0:9e9b7db60fd5 52 uint32_t length_dot_graph = strlen(this->dot_graph);
garyservin 0:9e9b7db60fd5 53 varToArr(outbuffer + offset, length_dot_graph);
garyservin 0:9e9b7db60fd5 54 offset += 4;
garyservin 0:9e9b7db60fd5 55 memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
garyservin 0:9e9b7db60fd5 56 offset += length_dot_graph;
garyservin 0:9e9b7db60fd5 57 return offset;
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 61 {
garyservin 0:9e9b7db60fd5 62 int offset = 0;
garyservin 0:9e9b7db60fd5 63 uint32_t length_dot_graph;
garyservin 0:9e9b7db60fd5 64 arrToVar(length_dot_graph, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 65 offset += 4;
garyservin 0:9e9b7db60fd5 66 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
garyservin 0:9e9b7db60fd5 67 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69 inbuffer[offset+length_dot_graph-1]=0;
garyservin 0:9e9b7db60fd5 70 this->dot_graph = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 71 offset += length_dot_graph;
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 const char * getType(){ return FRAMEGRAPH; };
garyservin 0:9e9b7db60fd5 76 const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 };
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 class FrameGraph {
garyservin 0:9e9b7db60fd5 81 public:
garyservin 0:9e9b7db60fd5 82 typedef FrameGraphRequest Request;
garyservin 0:9e9b7db60fd5 83 typedef FrameGraphResponse Response;
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 #endif