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/TeleportRelative.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_TeleportRelative_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_TeleportRelative_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 TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TeleportRelativeRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef float _linear_type;
garyservin 0:9e9b7db60fd5 17 _linear_type linear;
garyservin 0:9e9b7db60fd5 18 typedef float _angular_type;
garyservin 0:9e9b7db60fd5 19 _angular_type angular;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 TeleportRelativeRequest():
garyservin 0:9e9b7db60fd5 22 linear(0),
garyservin 0:9e9b7db60fd5 23 angular(0)
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 union {
garyservin 0:9e9b7db60fd5 31 float real;
garyservin 0:9e9b7db60fd5 32 uint32_t base;
garyservin 0:9e9b7db60fd5 33 } u_linear;
garyservin 0:9e9b7db60fd5 34 u_linear.real = this->linear;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->linear);
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 float real;
garyservin 0:9e9b7db60fd5 42 uint32_t base;
garyservin 0:9e9b7db60fd5 43 } u_angular;
garyservin 0:9e9b7db60fd5 44 u_angular.real = this->angular;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->angular);
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 float real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_linear;
garyservin 0:9e9b7db60fd5 60 u_linear.base = 0;
garyservin 0:9e9b7db60fd5 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 63 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 64 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 65 this->linear = u_linear.real;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->linear);
garyservin 0:9e9b7db60fd5 67 union {
garyservin 0:9e9b7db60fd5 68 float real;
garyservin 0:9e9b7db60fd5 69 uint32_t base;
garyservin 0:9e9b7db60fd5 70 } u_angular;
garyservin 0:9e9b7db60fd5 71 u_angular.base = 0;
garyservin 0:9e9b7db60fd5 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 74 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 75 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 76 this->angular = u_angular.real;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->angular);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:9e9b7db60fd5 82 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 class TeleportRelativeResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 public:
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 TeleportRelativeResponse()
garyservin 0:9e9b7db60fd5 91 {
garyservin 0:9e9b7db60fd5 92 }
garyservin 0:9e9b7db60fd5 93
garyservin 0:9e9b7db60fd5 94 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 95 {
garyservin 0:9e9b7db60fd5 96 int offset = 0;
garyservin 0:9e9b7db60fd5 97 return offset;
garyservin 0:9e9b7db60fd5 98 }
garyservin 0:9e9b7db60fd5 99
garyservin 0:9e9b7db60fd5 100 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 101 {
garyservin 0:9e9b7db60fd5 102 int offset = 0;
garyservin 0:9e9b7db60fd5 103 return offset;
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:9e9b7db60fd5 107 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 108
garyservin 0:9e9b7db60fd5 109 };
garyservin 0:9e9b7db60fd5 110
garyservin 0:9e9b7db60fd5 111 class TeleportRelative {
garyservin 0:9e9b7db60fd5 112 public:
garyservin 0:9e9b7db60fd5 113 typedef TeleportRelativeRequest Request;
garyservin 0:9e9b7db60fd5 114 typedef TeleportRelativeResponse Response;
garyservin 0:9e9b7db60fd5 115 };
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 #endif