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

nav_msgs/OccupancyGrid.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_nav_msgs_OccupancyGrid_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_OccupancyGrid_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 "nav_msgs/MapMetaData.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class OccupancyGrid : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef nav_msgs::MapMetaData _info_type;
garyservin 0:9e9b7db60fd5 20 _info_type info;
garyservin 0:9e9b7db60fd5 21 uint32_t data_length;
garyservin 0:9e9b7db60fd5 22 typedef int8_t _data_type;
garyservin 0:9e9b7db60fd5 23 _data_type st_data;
garyservin 0:9e9b7db60fd5 24 _data_type * data;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 OccupancyGrid():
garyservin 0:9e9b7db60fd5 27 header(),
garyservin 0:9e9b7db60fd5 28 info(),
garyservin 0:9e9b7db60fd5 29 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 int offset = 0;
garyservin 0:9e9b7db60fd5 36 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 37 offset += this->info.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 43 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 44 union {
garyservin 0:9e9b7db60fd5 45 int8_t real;
garyservin 0:9e9b7db60fd5 46 uint8_t base;
garyservin 0:9e9b7db60fd5 47 } u_datai;
garyservin 0:9e9b7db60fd5 48 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52 return offset;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 int offset = 0;
garyservin 0:9e9b7db60fd5 58 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 59 offset += this->info.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 60 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 61 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 62 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 63 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 65 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 66 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:9e9b7db60fd5 67 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 68 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 int8_t real;
garyservin 0:9e9b7db60fd5 71 uint8_t base;
garyservin 0:9e9b7db60fd5 72 } u_st_data;
garyservin 0:9e9b7db60fd5 73 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 74 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 75 this->st_data = u_st_data.real;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 const char * getType(){ return "nav_msgs/OccupancyGrid"; };
garyservin 0:9e9b7db60fd5 83 const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 #endif