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
Fork of ros_lib_kinetic by
rospy_tutorials/HeaderString.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_rospy_tutorials_HeaderString_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_rospy_tutorials_HeaderString_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 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace rospy_tutorials |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class HeaderString : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _data_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _data_type data; |
garyservin | 0:9e9b7db60fd5 | 20 | |
garyservin | 0:9e9b7db60fd5 | 21 | HeaderString(): |
garyservin | 0:9e9b7db60fd5 | 22 | header(), |
garyservin | 0:9e9b7db60fd5 | 23 | data("") |
garyservin | 0:9e9b7db60fd5 | 24 | { |
garyservin | 0:9e9b7db60fd5 | 25 | } |
garyservin | 0:9e9b7db60fd5 | 26 | |
garyservin | 0:9e9b7db60fd5 | 27 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 28 | { |
garyservin | 0:9e9b7db60fd5 | 29 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 30 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 31 | uint32_t length_data = strlen(this->data); |
garyservin | 0:9e9b7db60fd5 | 32 | varToArr(outbuffer + offset, length_data); |
garyservin | 0:9e9b7db60fd5 | 33 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 34 | memcpy(outbuffer + offset, this->data, length_data); |
garyservin | 0:9e9b7db60fd5 | 35 | offset += length_data; |
garyservin | 0:9e9b7db60fd5 | 36 | return offset; |
garyservin | 0:9e9b7db60fd5 | 37 | } |
garyservin | 0:9e9b7db60fd5 | 38 | |
garyservin | 0:9e9b7db60fd5 | 39 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 42 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 43 | uint32_t length_data; |
garyservin | 0:9e9b7db60fd5 | 44 | arrToVar(length_data, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 45 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 46 | for(unsigned int k= offset; k< offset+length_data; ++k){ |
garyservin | 0:9e9b7db60fd5 | 47 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 48 | } |
garyservin | 0:9e9b7db60fd5 | 49 | inbuffer[offset+length_data-1]=0; |
garyservin | 0:9e9b7db60fd5 | 50 | this->data = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 51 | offset += length_data; |
garyservin | 0:9e9b7db60fd5 | 52 | return offset; |
garyservin | 0:9e9b7db60fd5 | 53 | } |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | const char * getType(){ return "rospy_tutorials/HeaderString"; }; |
garyservin | 0:9e9b7db60fd5 | 56 | const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; }; |
garyservin | 0:9e9b7db60fd5 | 57 | |
garyservin | 0:9e9b7db60fd5 | 58 | }; |
garyservin | 0:9e9b7db60fd5 | 59 | |
garyservin | 0:9e9b7db60fd5 | 60 | } |
garyservin | 0:9e9b7db60fd5 | 61 | #endif |