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/InteractiveMarkerControl.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_InteractiveMarkerControl_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_visualization_msgs_InteractiveMarkerControl_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/Quaternion.h"
garyservin 0:9e9b7db60fd5 9 #include "visualization_msgs/Marker.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace visualization_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class InteractiveMarkerControl : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 18 _name_type name;
garyservin 0:9e9b7db60fd5 19 typedef geometry_msgs::Quaternion _orientation_type;
garyservin 0:9e9b7db60fd5 20 _orientation_type orientation;
garyservin 0:9e9b7db60fd5 21 typedef uint8_t _orientation_mode_type;
garyservin 0:9e9b7db60fd5 22 _orientation_mode_type orientation_mode;
garyservin 0:9e9b7db60fd5 23 typedef uint8_t _interaction_mode_type;
garyservin 0:9e9b7db60fd5 24 _interaction_mode_type interaction_mode;
garyservin 0:9e9b7db60fd5 25 typedef bool _always_visible_type;
garyservin 0:9e9b7db60fd5 26 _always_visible_type always_visible;
garyservin 0:9e9b7db60fd5 27 uint32_t markers_length;
garyservin 0:9e9b7db60fd5 28 typedef visualization_msgs::Marker _markers_type;
garyservin 0:9e9b7db60fd5 29 _markers_type st_markers;
garyservin 0:9e9b7db60fd5 30 _markers_type * markers;
garyservin 0:9e9b7db60fd5 31 typedef bool _independent_marker_orientation_type;
garyservin 0:9e9b7db60fd5 32 _independent_marker_orientation_type independent_marker_orientation;
garyservin 0:9e9b7db60fd5 33 typedef const char* _description_type;
garyservin 0:9e9b7db60fd5 34 _description_type description;
garyservin 0:9e9b7db60fd5 35 enum { INHERIT = 0 };
garyservin 0:9e9b7db60fd5 36 enum { FIXED = 1 };
garyservin 0:9e9b7db60fd5 37 enum { VIEW_FACING = 2 };
garyservin 0:9e9b7db60fd5 38 enum { NONE = 0 };
garyservin 0:9e9b7db60fd5 39 enum { MENU = 1 };
garyservin 0:9e9b7db60fd5 40 enum { BUTTON = 2 };
garyservin 0:9e9b7db60fd5 41 enum { MOVE_AXIS = 3 };
garyservin 0:9e9b7db60fd5 42 enum { MOVE_PLANE = 4 };
garyservin 0:9e9b7db60fd5 43 enum { ROTATE_AXIS = 5 };
garyservin 0:9e9b7db60fd5 44 enum { MOVE_ROTATE = 6 };
garyservin 0:9e9b7db60fd5 45 enum { MOVE_3D = 7 };
garyservin 0:9e9b7db60fd5 46 enum { ROTATE_3D = 8 };
garyservin 0:9e9b7db60fd5 47 enum { MOVE_ROTATE_3D = 9 };
garyservin 0:9e9b7db60fd5 48
garyservin 0:9e9b7db60fd5 49 InteractiveMarkerControl():
garyservin 0:9e9b7db60fd5 50 name(""),
garyservin 0:9e9b7db60fd5 51 orientation(),
garyservin 0:9e9b7db60fd5 52 orientation_mode(0),
garyservin 0:9e9b7db60fd5 53 interaction_mode(0),
garyservin 0:9e9b7db60fd5 54 always_visible(0),
garyservin 0:9e9b7db60fd5 55 markers_length(0), markers(NULL),
garyservin 0:9e9b7db60fd5 56 independent_marker_orientation(0),
garyservin 0:9e9b7db60fd5 57 description("")
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 65 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 66 offset += 4;
garyservin 0:9e9b7db60fd5 67 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 68 offset += length_name;
garyservin 0:9e9b7db60fd5 69 offset += this->orientation.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->orientation_mode);
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->interaction_mode);
garyservin 0:9e9b7db60fd5 74 union {
garyservin 0:9e9b7db60fd5 75 bool real;
garyservin 0:9e9b7db60fd5 76 uint8_t base;
garyservin 0:9e9b7db60fd5 77 } u_always_visible;
garyservin 0:9e9b7db60fd5 78 u_always_visible.real = this->always_visible;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 offset += sizeof(this->always_visible);
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 86 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 87 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 bool real;
garyservin 0:9e9b7db60fd5 91 uint8_t base;
garyservin 0:9e9b7db60fd5 92 } u_independent_marker_orientation;
garyservin 0:9e9b7db60fd5 93 u_independent_marker_orientation.real = this->independent_marker_orientation;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 offset += sizeof(this->independent_marker_orientation);
garyservin 0:9e9b7db60fd5 96 uint32_t length_description = strlen(this->description);
garyservin 0:9e9b7db60fd5 97 varToArr(outbuffer + offset, length_description);
garyservin 0:9e9b7db60fd5 98 offset += 4;
garyservin 0:9e9b7db60fd5 99 memcpy(outbuffer + offset, this->description, length_description);
garyservin 0:9e9b7db60fd5 100 offset += length_description;
garyservin 0:9e9b7db60fd5 101 return offset;
garyservin 0:9e9b7db60fd5 102 }
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 105 {
garyservin 0:9e9b7db60fd5 106 int offset = 0;
garyservin 0:9e9b7db60fd5 107 uint32_t length_name;
garyservin 0:9e9b7db60fd5 108 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 109 offset += 4;
garyservin 0:9e9b7db60fd5 110 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 111 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 112 }
garyservin 0:9e9b7db60fd5 113 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 114 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 115 offset += length_name;
garyservin 0:9e9b7db60fd5 116 offset += this->orientation.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 117 this->orientation_mode = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 118 offset += sizeof(this->orientation_mode);
garyservin 0:9e9b7db60fd5 119 this->interaction_mode = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 120 offset += sizeof(this->interaction_mode);
garyservin 0:9e9b7db60fd5 121 union {
garyservin 0:9e9b7db60fd5 122 bool real;
garyservin 0:9e9b7db60fd5 123 uint8_t base;
garyservin 0:9e9b7db60fd5 124 } u_always_visible;
garyservin 0:9e9b7db60fd5 125 u_always_visible.base = 0;
garyservin 0:9e9b7db60fd5 126 u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 127 this->always_visible = u_always_visible.real;
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->always_visible);
garyservin 0:9e9b7db60fd5 129 uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 130 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 131 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 132 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 133 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 134 if(markers_lengthT > markers_length)
garyservin 0:9e9b7db60fd5 135 this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
garyservin 0:9e9b7db60fd5 136 markers_length = markers_lengthT;
garyservin 0:9e9b7db60fd5 137 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 138 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 139 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
garyservin 0:9e9b7db60fd5 140 }
garyservin 0:9e9b7db60fd5 141 union {
garyservin 0:9e9b7db60fd5 142 bool real;
garyservin 0:9e9b7db60fd5 143 uint8_t base;
garyservin 0:9e9b7db60fd5 144 } u_independent_marker_orientation;
garyservin 0:9e9b7db60fd5 145 u_independent_marker_orientation.base = 0;
garyservin 0:9e9b7db60fd5 146 u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 147 this->independent_marker_orientation = u_independent_marker_orientation.real;
garyservin 0:9e9b7db60fd5 148 offset += sizeof(this->independent_marker_orientation);
garyservin 0:9e9b7db60fd5 149 uint32_t length_description;
garyservin 0:9e9b7db60fd5 150 arrToVar(length_description, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 151 offset += 4;
garyservin 0:9e9b7db60fd5 152 for(unsigned int k= offset; k< offset+length_description; ++k){
garyservin 0:9e9b7db60fd5 153 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 154 }
garyservin 0:9e9b7db60fd5 155 inbuffer[offset+length_description-1]=0;
garyservin 0:9e9b7db60fd5 156 this->description = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 157 offset += length_description;
garyservin 0:9e9b7db60fd5 158 return offset;
garyservin 0:9e9b7db60fd5 159 }
garyservin 0:9e9b7db60fd5 160
garyservin 0:9e9b7db60fd5 161 const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
garyservin 0:9e9b7db60fd5 162 const char * getMD5(){ return "b3c81e785788195d1840b86c28da1aac"; };
garyservin 0:9e9b7db60fd5 163
garyservin 0:9e9b7db60fd5 164 };
garyservin 0:9e9b7db60fd5 165
garyservin 0:9e9b7db60fd5 166 }
garyservin 0:9e9b7db60fd5 167 #endif