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

visualization_msgs/InteractiveMarker.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_visualization_msgs_InteractiveMarker_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_visualization_msgs_InteractiveMarker_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 "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 10 #include "visualization_msgs/MenuEntry.h"
garyservin 0:9e9b7db60fd5 11 #include "visualization_msgs/InteractiveMarkerControl.h"
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 namespace visualization_msgs
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15
garyservin 0:9e9b7db60fd5 16 class InteractiveMarker : public ros::Msg
garyservin 0:9e9b7db60fd5 17 {
garyservin 0:9e9b7db60fd5 18 public:
garyservin 0:9e9b7db60fd5 19 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 20 _header_type header;
garyservin 0:9e9b7db60fd5 21 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 22 _pose_type pose;
garyservin 0:9e9b7db60fd5 23 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 24 _name_type name;
garyservin 0:9e9b7db60fd5 25 typedef const char* _description_type;
garyservin 0:9e9b7db60fd5 26 _description_type description;
garyservin 0:9e9b7db60fd5 27 typedef float _scale_type;
garyservin 0:9e9b7db60fd5 28 _scale_type scale;
garyservin 0:9e9b7db60fd5 29 uint32_t menu_entries_length;
garyservin 0:9e9b7db60fd5 30 typedef visualization_msgs::MenuEntry _menu_entries_type;
garyservin 0:9e9b7db60fd5 31 _menu_entries_type st_menu_entries;
garyservin 0:9e9b7db60fd5 32 _menu_entries_type * menu_entries;
garyservin 0:9e9b7db60fd5 33 uint32_t controls_length;
garyservin 0:9e9b7db60fd5 34 typedef visualization_msgs::InteractiveMarkerControl _controls_type;
garyservin 0:9e9b7db60fd5 35 _controls_type st_controls;
garyservin 0:9e9b7db60fd5 36 _controls_type * controls;
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 InteractiveMarker():
garyservin 0:9e9b7db60fd5 39 header(),
garyservin 0:9e9b7db60fd5 40 pose(),
garyservin 0:9e9b7db60fd5 41 name(""),
garyservin 0:9e9b7db60fd5 42 description(""),
garyservin 0:9e9b7db60fd5 43 scale(0),
garyservin 0:9e9b7db60fd5 44 menu_entries_length(0), menu_entries(NULL),
garyservin 0:9e9b7db60fd5 45 controls_length(0), controls(NULL)
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 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 53 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 54 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 55 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 56 offset += 4;
garyservin 0:9e9b7db60fd5 57 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 58 offset += length_name;
garyservin 0:9e9b7db60fd5 59 uint32_t length_description = strlen(this->description);
garyservin 0:9e9b7db60fd5 60 varToArr(outbuffer + offset, length_description);
garyservin 0:9e9b7db60fd5 61 offset += 4;
garyservin 0:9e9b7db60fd5 62 memcpy(outbuffer + offset, this->description, length_description);
garyservin 0:9e9b7db60fd5 63 offset += length_description;
garyservin 0:9e9b7db60fd5 64 union {
garyservin 0:9e9b7db60fd5 65 float real;
garyservin 0:9e9b7db60fd5 66 uint32_t base;
garyservin 0:9e9b7db60fd5 67 } u_scale;
garyservin 0:9e9b7db60fd5 68 u_scale.real = this->scale;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->scale);
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 0) = (this->menu_entries_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 1) = (this->menu_entries_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 2) = (this->menu_entries_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 3) = (this->menu_entries_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->menu_entries_length);
garyservin 0:9e9b7db60fd5 79 for( uint32_t i = 0; i < menu_entries_length; i++){
garyservin 0:9e9b7db60fd5 80 offset += this->menu_entries[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 0) = (this->controls_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 1) = (this->controls_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 2) = (this->controls_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 3) = (this->controls_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->controls_length);
garyservin 0:9e9b7db60fd5 87 for( uint32_t i = 0; i < controls_length; i++){
garyservin 0:9e9b7db60fd5 88 offset += this->controls[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 94 {
garyservin 0:9e9b7db60fd5 95 int offset = 0;
garyservin 0:9e9b7db60fd5 96 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 97 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 98 uint32_t length_name;
garyservin 0:9e9b7db60fd5 99 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 100 offset += 4;
garyservin 0:9e9b7db60fd5 101 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 102 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 105 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 106 offset += length_name;
garyservin 0:9e9b7db60fd5 107 uint32_t length_description;
garyservin 0:9e9b7db60fd5 108 arrToVar(length_description, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 109 offset += 4;
garyservin 0:9e9b7db60fd5 110 for(unsigned int k= offset; k< offset+length_description; ++k){
garyservin 0:9e9b7db60fd5 111 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 112 }
garyservin 0:9e9b7db60fd5 113 inbuffer[offset+length_description-1]=0;
garyservin 0:9e9b7db60fd5 114 this->description = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 115 offset += length_description;
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 float real;
garyservin 0:9e9b7db60fd5 118 uint32_t base;
garyservin 0:9e9b7db60fd5 119 } u_scale;
garyservin 0:9e9b7db60fd5 120 u_scale.base = 0;
garyservin 0:9e9b7db60fd5 121 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 122 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 123 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 124 u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 125 this->scale = u_scale.real;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->scale);
garyservin 0:9e9b7db60fd5 127 uint32_t menu_entries_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 128 menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 129 menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 130 menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 131 offset += sizeof(this->menu_entries_length);
garyservin 0:9e9b7db60fd5 132 if(menu_entries_lengthT > menu_entries_length)
garyservin 0:9e9b7db60fd5 133 this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry));
garyservin 0:9e9b7db60fd5 134 menu_entries_length = menu_entries_lengthT;
garyservin 0:9e9b7db60fd5 135 for( uint32_t i = 0; i < menu_entries_length; i++){
garyservin 0:9e9b7db60fd5 136 offset += this->st_menu_entries.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 137 memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry));
garyservin 0:9e9b7db60fd5 138 }
garyservin 0:9e9b7db60fd5 139 uint32_t controls_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 140 controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 141 controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 142 controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 143 offset += sizeof(this->controls_length);
garyservin 0:9e9b7db60fd5 144 if(controls_lengthT > controls_length)
garyservin 0:9e9b7db60fd5 145 this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl));
garyservin 0:9e9b7db60fd5 146 controls_length = controls_lengthT;
garyservin 0:9e9b7db60fd5 147 for( uint32_t i = 0; i < controls_length; i++){
garyservin 0:9e9b7db60fd5 148 offset += this->st_controls.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 149 memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl));
garyservin 0:9e9b7db60fd5 150 }
garyservin 0:9e9b7db60fd5 151 return offset;
garyservin 0:9e9b7db60fd5 152 }
garyservin 0:9e9b7db60fd5 153
garyservin 0:9e9b7db60fd5 154 const char * getType(){ return "visualization_msgs/InteractiveMarker"; };
garyservin 0:9e9b7db60fd5 155 const char * getMD5(){ return "dd86d22909d5a3364b384492e35c10af"; };
garyservin 0:9e9b7db60fd5 156
garyservin 0:9e9b7db60fd5 157 };
garyservin 0:9e9b7db60fd5 158
garyservin 0:9e9b7db60fd5 159 }
garyservin 0:9e9b7db60fd5 160 #endif