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/InteractiveMarkerInit.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_InteractiveMarkerInit_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_visualization_msgs_InteractiveMarkerInit_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 "visualization_msgs/InteractiveMarker.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace visualization_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class InteractiveMarkerInit : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _server_id_type;
garyservin 0:9e9b7db60fd5 17 _server_id_type server_id;
garyservin 0:9e9b7db60fd5 18 typedef uint64_t _seq_num_type;
garyservin 0:9e9b7db60fd5 19 _seq_num_type seq_num;
garyservin 0:9e9b7db60fd5 20 uint32_t markers_length;
garyservin 0:9e9b7db60fd5 21 typedef visualization_msgs::InteractiveMarker _markers_type;
garyservin 0:9e9b7db60fd5 22 _markers_type st_markers;
garyservin 0:9e9b7db60fd5 23 _markers_type * markers;
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 InteractiveMarkerInit():
garyservin 0:9e9b7db60fd5 26 server_id(""),
garyservin 0:9e9b7db60fd5 27 seq_num(0),
garyservin 0:9e9b7db60fd5 28 markers_length(0), markers(NULL)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 uint32_t length_server_id = strlen(this->server_id);
garyservin 0:9e9b7db60fd5 36 varToArr(outbuffer + offset, length_server_id);
garyservin 0:9e9b7db60fd5 37 offset += 4;
garyservin 0:9e9b7db60fd5 38 memcpy(outbuffer + offset, this->server_id, length_server_id);
garyservin 0:9e9b7db60fd5 39 offset += length_server_id;
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 uint64_t real;
garyservin 0:9e9b7db60fd5 42 uint32_t base;
garyservin 0:9e9b7db60fd5 43 } u_seq_num;
garyservin 0:9e9b7db60fd5 44 u_seq_num.real = this->seq_num;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->seq_num);
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 55 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 56 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 57 }
garyservin 0:9e9b7db60fd5 58 return offset;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 uint32_t length_server_id;
garyservin 0:9e9b7db60fd5 65 arrToVar(length_server_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 66 offset += 4;
garyservin 0:9e9b7db60fd5 67 for(unsigned int k= offset; k< offset+length_server_id; ++k){
garyservin 0:9e9b7db60fd5 68 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 inbuffer[offset+length_server_id-1]=0;
garyservin 0:9e9b7db60fd5 71 this->server_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 72 offset += length_server_id;
garyservin 0:9e9b7db60fd5 73 union {
garyservin 0:9e9b7db60fd5 74 uint64_t real;
garyservin 0:9e9b7db60fd5 75 uint32_t base;
garyservin 0:9e9b7db60fd5 76 } u_seq_num;
garyservin 0:9e9b7db60fd5 77 u_seq_num.base = 0;
garyservin 0:9e9b7db60fd5 78 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 79 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 80 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 81 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 82 this->seq_num = u_seq_num.real;
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->seq_num);
garyservin 0:9e9b7db60fd5 84 uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 85 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 86 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 87 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 89 if(markers_lengthT > markers_length)
garyservin 0:9e9b7db60fd5 90 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:9e9b7db60fd5 91 markers_length = markers_lengthT;
garyservin 0:9e9b7db60fd5 92 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 93 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 94 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 return offset;
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 const char * getType(){ return "visualization_msgs/InteractiveMarkerInit"; };
garyservin 0:9e9b7db60fd5 100 const char * getMD5(){ return "d5f2c5045a72456d228676ab91048734"; };
garyservin 0:9e9b7db60fd5 101
garyservin 0:9e9b7db60fd5 102 };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105 #endif