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/InteractiveMarkerUpdate.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_InteractiveMarkerUpdate_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_visualization_msgs_InteractiveMarkerUpdate_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 #include "visualization_msgs/InteractiveMarkerPose.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 InteractiveMarkerUpdate : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _server_id_type;
garyservin 0:9e9b7db60fd5 18 _server_id_type server_id;
garyservin 0:9e9b7db60fd5 19 typedef uint64_t _seq_num_type;
garyservin 0:9e9b7db60fd5 20 _seq_num_type seq_num;
garyservin 0:9e9b7db60fd5 21 typedef uint8_t _type_type;
garyservin 0:9e9b7db60fd5 22 _type_type type;
garyservin 0:9e9b7db60fd5 23 uint32_t markers_length;
garyservin 0:9e9b7db60fd5 24 typedef visualization_msgs::InteractiveMarker _markers_type;
garyservin 0:9e9b7db60fd5 25 _markers_type st_markers;
garyservin 0:9e9b7db60fd5 26 _markers_type * markers;
garyservin 0:9e9b7db60fd5 27 uint32_t poses_length;
garyservin 0:9e9b7db60fd5 28 typedef visualization_msgs::InteractiveMarkerPose _poses_type;
garyservin 0:9e9b7db60fd5 29 _poses_type st_poses;
garyservin 0:9e9b7db60fd5 30 _poses_type * poses;
garyservin 0:9e9b7db60fd5 31 uint32_t erases_length;
garyservin 0:9e9b7db60fd5 32 typedef char* _erases_type;
garyservin 0:9e9b7db60fd5 33 _erases_type st_erases;
garyservin 0:9e9b7db60fd5 34 _erases_type * erases;
garyservin 0:9e9b7db60fd5 35 enum { KEEP_ALIVE = 0 };
garyservin 0:9e9b7db60fd5 36 enum { UPDATE = 1 };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 InteractiveMarkerUpdate():
garyservin 0:9e9b7db60fd5 39 server_id(""),
garyservin 0:9e9b7db60fd5 40 seq_num(0),
garyservin 0:9e9b7db60fd5 41 type(0),
garyservin 0:9e9b7db60fd5 42 markers_length(0), markers(NULL),
garyservin 0:9e9b7db60fd5 43 poses_length(0), poses(NULL),
garyservin 0:9e9b7db60fd5 44 erases_length(0), erases(NULL)
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 }
garyservin 0:9e9b7db60fd5 47
garyservin 0:9e9b7db60fd5 48 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 49 {
garyservin 0:9e9b7db60fd5 50 int offset = 0;
garyservin 0:9e9b7db60fd5 51 uint32_t length_server_id = strlen(this->server_id);
garyservin 0:9e9b7db60fd5 52 varToArr(outbuffer + offset, length_server_id);
garyservin 0:9e9b7db60fd5 53 offset += 4;
garyservin 0:9e9b7db60fd5 54 memcpy(outbuffer + offset, this->server_id, length_server_id);
garyservin 0:9e9b7db60fd5 55 offset += length_server_id;
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 uint64_t real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_seq_num;
garyservin 0:9e9b7db60fd5 60 u_seq_num.real = this->seq_num;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->seq_num);
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 73 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 74 offset += this->markers[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 81 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 82 offset += this->poses[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->erases_length);
garyservin 0:9e9b7db60fd5 89 for( uint32_t i = 0; i < erases_length; i++){
garyservin 0:9e9b7db60fd5 90 uint32_t length_erasesi = strlen(this->erases[i]);
garyservin 0:9e9b7db60fd5 91 varToArr(outbuffer + offset, length_erasesi);
garyservin 0:9e9b7db60fd5 92 offset += 4;
garyservin 0:9e9b7db60fd5 93 memcpy(outbuffer + offset, this->erases[i], length_erasesi);
garyservin 0:9e9b7db60fd5 94 offset += length_erasesi;
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 return offset;
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 100 {
garyservin 0:9e9b7db60fd5 101 int offset = 0;
garyservin 0:9e9b7db60fd5 102 uint32_t length_server_id;
garyservin 0:9e9b7db60fd5 103 arrToVar(length_server_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 104 offset += 4;
garyservin 0:9e9b7db60fd5 105 for(unsigned int k= offset; k< offset+length_server_id; ++k){
garyservin 0:9e9b7db60fd5 106 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 107 }
garyservin 0:9e9b7db60fd5 108 inbuffer[offset+length_server_id-1]=0;
garyservin 0:9e9b7db60fd5 109 this->server_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 110 offset += length_server_id;
garyservin 0:9e9b7db60fd5 111 union {
garyservin 0:9e9b7db60fd5 112 uint64_t real;
garyservin 0:9e9b7db60fd5 113 uint32_t base;
garyservin 0:9e9b7db60fd5 114 } u_seq_num;
garyservin 0:9e9b7db60fd5 115 u_seq_num.base = 0;
garyservin 0:9e9b7db60fd5 116 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 117 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 118 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 119 u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 120 this->seq_num = u_seq_num.real;
garyservin 0:9e9b7db60fd5 121 offset += sizeof(this->seq_num);
garyservin 0:9e9b7db60fd5 122 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 123 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 124 uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 125 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 126 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 127 markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->markers_length);
garyservin 0:9e9b7db60fd5 129 if(markers_lengthT > markers_length)
garyservin 0:9e9b7db60fd5 130 this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:9e9b7db60fd5 131 markers_length = markers_lengthT;
garyservin 0:9e9b7db60fd5 132 for( uint32_t i = 0; i < markers_length; i++){
garyservin 0:9e9b7db60fd5 133 offset += this->st_markers.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 134 memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
garyservin 0:9e9b7db60fd5 135 }
garyservin 0:9e9b7db60fd5 136 uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 137 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 138 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 139 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 140 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 141 if(poses_lengthT > poses_length)
garyservin 0:9e9b7db60fd5 142 this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
garyservin 0:9e9b7db60fd5 143 poses_length = poses_lengthT;
garyservin 0:9e9b7db60fd5 144 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 145 offset += this->st_poses.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 146 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
garyservin 0:9e9b7db60fd5 147 }
garyservin 0:9e9b7db60fd5 148 uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 149 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 150 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 151 erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 152 offset += sizeof(this->erases_length);
garyservin 0:9e9b7db60fd5 153 if(erases_lengthT > erases_length)
garyservin 0:9e9b7db60fd5 154 this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 155 erases_length = erases_lengthT;
garyservin 0:9e9b7db60fd5 156 for( uint32_t i = 0; i < erases_length; i++){
garyservin 0:9e9b7db60fd5 157 uint32_t length_st_erases;
garyservin 0:9e9b7db60fd5 158 arrToVar(length_st_erases, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 159 offset += 4;
garyservin 0:9e9b7db60fd5 160 for(unsigned int k= offset; k< offset+length_st_erases; ++k){
garyservin 0:9e9b7db60fd5 161 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 inbuffer[offset+length_st_erases-1]=0;
garyservin 0:9e9b7db60fd5 164 this->st_erases = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 165 offset += length_st_erases;
garyservin 0:9e9b7db60fd5 166 memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
garyservin 0:9e9b7db60fd5 167 }
garyservin 0:9e9b7db60fd5 168 return offset;
garyservin 0:9e9b7db60fd5 169 }
garyservin 0:9e9b7db60fd5 170
garyservin 0:9e9b7db60fd5 171 const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
garyservin 0:9e9b7db60fd5 172 const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; };
garyservin 0:9e9b7db60fd5 173
garyservin 0:9e9b7db60fd5 174 };
garyservin 0:9e9b7db60fd5 175
garyservin 0:9e9b7db60fd5 176 }
garyservin 0:9e9b7db60fd5 177 #endif