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/tfMessage.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_tf_tfMessage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_tf_tfMessage_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 "geometry_msgs/TransformStamped.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace tf
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class tfMessage : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 uint32_t transforms_length;
garyservin 0:9e9b7db60fd5 17 typedef geometry_msgs::TransformStamped _transforms_type;
garyservin 0:9e9b7db60fd5 18 _transforms_type st_transforms;
garyservin 0:9e9b7db60fd5 19 _transforms_type * transforms;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 tfMessage():
garyservin 0:9e9b7db60fd5 22 transforms_length(0), transforms(NULL)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 33 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 34 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 35 offset += this->transforms[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 36 }
garyservin 0:9e9b7db60fd5 37 return offset;
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 44 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 45 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 46 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 48 if(transforms_lengthT > transforms_length)
garyservin 0:9e9b7db60fd5 49 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
garyservin 0:9e9b7db60fd5 50 transforms_length = transforms_lengthT;
garyservin 0:9e9b7db60fd5 51 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 52 offset += this->st_transforms.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 return offset;
garyservin 0:9e9b7db60fd5 56 }
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 const char * getType(){ return "tf/tfMessage"; };
garyservin 0:9e9b7db60fd5 59 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 };
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64 #endif