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

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

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Child:
2:9114cc24ddcf
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_rosserial_mbed_Adc_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rosserial_mbed_Adc_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
garyservin 0:9e9b7db60fd5 9 namespace rosserial_mbed
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Adc : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint16_t _adc0_type;
garyservin 0:9e9b7db60fd5 16 _adc0_type adc0;
garyservin 0:9e9b7db60fd5 17 typedef uint16_t _adc1_type;
garyservin 0:9e9b7db60fd5 18 _adc1_type adc1;
garyservin 0:9e9b7db60fd5 19 typedef uint16_t _adc2_type;
garyservin 0:9e9b7db60fd5 20 _adc2_type adc2;
garyservin 0:9e9b7db60fd5 21 typedef uint16_t _adc3_type;
garyservin 0:9e9b7db60fd5 22 _adc3_type adc3;
garyservin 0:9e9b7db60fd5 23 typedef uint16_t _adc4_type;
garyservin 0:9e9b7db60fd5 24 _adc4_type adc4;
garyservin 0:9e9b7db60fd5 25 typedef uint16_t _adc5_type;
garyservin 0:9e9b7db60fd5 26 _adc5_type adc5;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 Adc():
garyservin 0:9e9b7db60fd5 29 adc0(0),
garyservin 0:9e9b7db60fd5 30 adc1(0),
garyservin 0:9e9b7db60fd5 31 adc2(0),
garyservin 0:9e9b7db60fd5 32 adc3(0),
garyservin 0:9e9b7db60fd5 33 adc4(0),
garyservin 0:9e9b7db60fd5 34 adc5(0)
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 }
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 int offset = 0;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->adc0);
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->adc1);
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->adc2);
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->adc3);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->adc4);
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->adc5);
garyservin 0:9e9b7db60fd5 59 return offset;
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61
garyservin 0:9e9b7db60fd5 62 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 63 {
garyservin 0:9e9b7db60fd5 64 int offset = 0;
garyservin 0:9e9b7db60fd5 65 this->adc0 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 66 this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->adc0);
garyservin 0:9e9b7db60fd5 68 this->adc1 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 69 this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->adc1);
garyservin 0:9e9b7db60fd5 71 this->adc2 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 72 this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->adc2);
garyservin 0:9e9b7db60fd5 74 this->adc3 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 75 this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->adc3);
garyservin 0:9e9b7db60fd5 77 this->adc4 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 78 this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->adc4);
garyservin 0:9e9b7db60fd5 80 this->adc5 = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 81 this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 82 offset += sizeof(this->adc5);
garyservin 0:9e9b7db60fd5 83 return offset;
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 const char * getType(){ return "rosserial_mbed/Adc"; };
garyservin 0:9e9b7db60fd5 87 const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 };
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92 #endif