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

turtlesim/SetPen.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_SetPen_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetPen_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 turtlesim
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char SETPEN[] = "turtlesim/SetPen";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class SetPenRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef uint8_t _r_type;
garyservin 0:9e9b7db60fd5 17 _r_type r;
garyservin 0:9e9b7db60fd5 18 typedef uint8_t _g_type;
garyservin 0:9e9b7db60fd5 19 _g_type g;
garyservin 0:9e9b7db60fd5 20 typedef uint8_t _b_type;
garyservin 0:9e9b7db60fd5 21 _b_type b;
garyservin 0:9e9b7db60fd5 22 typedef uint8_t _width_type;
garyservin 0:9e9b7db60fd5 23 _width_type width;
garyservin 0:9e9b7db60fd5 24 typedef uint8_t _off_type;
garyservin 0:9e9b7db60fd5 25 _off_type off;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 SetPenRequest():
garyservin 0:9e9b7db60fd5 28 r(0),
garyservin 0:9e9b7db60fd5 29 g(0),
garyservin 0:9e9b7db60fd5 30 b(0),
garyservin 0:9e9b7db60fd5 31 width(0),
garyservin 0:9e9b7db60fd5 32 off(0)
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 }
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 37 {
garyservin 0:9e9b7db60fd5 38 int offset = 0;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (this->r >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 offset += sizeof(this->r);
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (this->g >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->g);
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->b >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->b);
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->off >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->off);
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 this->r = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->r);
garyservin 0:9e9b7db60fd5 57 this->g = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->g);
garyservin 0:9e9b7db60fd5 59 this->b = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 60 offset += sizeof(this->b);
garyservin 0:9e9b7db60fd5 61 this->width = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 63 this->off = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->off);
garyservin 0:9e9b7db60fd5 65 return offset;
garyservin 0:9e9b7db60fd5 66 }
garyservin 0:9e9b7db60fd5 67
garyservin 0:9e9b7db60fd5 68 const char * getType(){ return SETPEN; };
garyservin 0:9e9b7db60fd5 69 const char * getMD5(){ return "9f452acce566bf0c0954594f69a8e41b"; };
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 };
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 class SetPenResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 74 {
garyservin 0:9e9b7db60fd5 75 public:
garyservin 0:9e9b7db60fd5 76
garyservin 0:9e9b7db60fd5 77 SetPenResponse()
garyservin 0:9e9b7db60fd5 78 {
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 82 {
garyservin 0:9e9b7db60fd5 83 int offset = 0;
garyservin 0:9e9b7db60fd5 84 return offset;
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 88 {
garyservin 0:9e9b7db60fd5 89 int offset = 0;
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 const char * getType(){ return SETPEN; };
garyservin 0:9e9b7db60fd5 94 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 class SetPen {
garyservin 0:9e9b7db60fd5 99 public:
garyservin 0:9e9b7db60fd5 100 typedef SetPenRequest Request;
garyservin 0:9e9b7db60fd5 101 typedef SetPenResponse Response;
garyservin 0:9e9b7db60fd5 102 };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105 #endif