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_msgs/TopicInfo.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_rosserial_msgs_TopicInfo_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rosserial_msgs_TopicInfo_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_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class TopicInfo : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint16_t _topic_id_type;
garyservin 0:9e9b7db60fd5 16 _topic_id_type topic_id;
garyservin 0:9e9b7db60fd5 17 typedef const char* _topic_name_type;
garyservin 0:9e9b7db60fd5 18 _topic_name_type topic_name;
garyservin 0:9e9b7db60fd5 19 typedef const char* _message_type_type;
garyservin 0:9e9b7db60fd5 20 _message_type_type message_type;
garyservin 0:9e9b7db60fd5 21 typedef const char* _md5sum_type;
garyservin 0:9e9b7db60fd5 22 _md5sum_type md5sum;
garyservin 0:9e9b7db60fd5 23 typedef int32_t _buffer_size_type;
garyservin 0:9e9b7db60fd5 24 _buffer_size_type buffer_size;
garyservin 0:9e9b7db60fd5 25 enum { ID_PUBLISHER = 0 };
garyservin 0:9e9b7db60fd5 26 enum { ID_SUBSCRIBER = 1 };
garyservin 0:9e9b7db60fd5 27 enum { ID_SERVICE_SERVER = 2 };
garyservin 0:9e9b7db60fd5 28 enum { ID_SERVICE_CLIENT = 4 };
garyservin 0:9e9b7db60fd5 29 enum { ID_PARAMETER_REQUEST = 6 };
garyservin 0:9e9b7db60fd5 30 enum { ID_LOG = 7 };
garyservin 0:9e9b7db60fd5 31 enum { ID_TIME = 10 };
garyservin 0:9e9b7db60fd5 32 enum { ID_TX_STOP = 11 };
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 TopicInfo():
garyservin 0:9e9b7db60fd5 35 topic_id(0),
garyservin 0:9e9b7db60fd5 36 topic_name(""),
garyservin 0:9e9b7db60fd5 37 message_type(""),
garyservin 0:9e9b7db60fd5 38 md5sum(""),
garyservin 0:9e9b7db60fd5 39 buffer_size(0)
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 }
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 int offset = 0;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->topic_id);
garyservin 0:9e9b7db60fd5 49 uint32_t length_topic_name = strlen(this->topic_name);
garyservin 0:9e9b7db60fd5 50 varToArr(outbuffer + offset, length_topic_name);
garyservin 0:9e9b7db60fd5 51 offset += 4;
garyservin 0:9e9b7db60fd5 52 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
garyservin 0:9e9b7db60fd5 53 offset += length_topic_name;
garyservin 0:9e9b7db60fd5 54 uint32_t length_message_type = strlen(this->message_type);
garyservin 0:9e9b7db60fd5 55 varToArr(outbuffer + offset, length_message_type);
garyservin 0:9e9b7db60fd5 56 offset += 4;
garyservin 0:9e9b7db60fd5 57 memcpy(outbuffer + offset, this->message_type, length_message_type);
garyservin 0:9e9b7db60fd5 58 offset += length_message_type;
garyservin 0:9e9b7db60fd5 59 uint32_t length_md5sum = strlen(this->md5sum);
garyservin 0:9e9b7db60fd5 60 varToArr(outbuffer + offset, length_md5sum);
garyservin 0:9e9b7db60fd5 61 offset += 4;
garyservin 0:9e9b7db60fd5 62 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
garyservin 0:9e9b7db60fd5 63 offset += length_md5sum;
garyservin 0:9e9b7db60fd5 64 union {
garyservin 0:9e9b7db60fd5 65 int32_t real;
garyservin 0:9e9b7db60fd5 66 uint32_t base;
garyservin 0:9e9b7db60fd5 67 } u_buffer_size;
garyservin 0:9e9b7db60fd5 68 u_buffer_size.real = this->buffer_size;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->buffer_size);
garyservin 0:9e9b7db60fd5 74 return offset;
garyservin 0:9e9b7db60fd5 75 }
garyservin 0:9e9b7db60fd5 76
garyservin 0:9e9b7db60fd5 77 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 78 {
garyservin 0:9e9b7db60fd5 79 int offset = 0;
garyservin 0:9e9b7db60fd5 80 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 81 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 82 offset += sizeof(this->topic_id);
garyservin 0:9e9b7db60fd5 83 uint32_t length_topic_name;
garyservin 0:9e9b7db60fd5 84 arrToVar(length_topic_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 85 offset += 4;
garyservin 0:9e9b7db60fd5 86 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
garyservin 0:9e9b7db60fd5 87 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 inbuffer[offset+length_topic_name-1]=0;
garyservin 0:9e9b7db60fd5 90 this->topic_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 91 offset += length_topic_name;
garyservin 0:9e9b7db60fd5 92 uint32_t length_message_type;
garyservin 0:9e9b7db60fd5 93 arrToVar(length_message_type, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 94 offset += 4;
garyservin 0:9e9b7db60fd5 95 for(unsigned int k= offset; k< offset+length_message_type; ++k){
garyservin 0:9e9b7db60fd5 96 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98 inbuffer[offset+length_message_type-1]=0;
garyservin 0:9e9b7db60fd5 99 this->message_type = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 100 offset += length_message_type;
garyservin 0:9e9b7db60fd5 101 uint32_t length_md5sum;
garyservin 0:9e9b7db60fd5 102 arrToVar(length_md5sum, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 103 offset += 4;
garyservin 0:9e9b7db60fd5 104 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
garyservin 0:9e9b7db60fd5 105 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 106 }
garyservin 0:9e9b7db60fd5 107 inbuffer[offset+length_md5sum-1]=0;
garyservin 0:9e9b7db60fd5 108 this->md5sum = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 109 offset += length_md5sum;
garyservin 0:9e9b7db60fd5 110 union {
garyservin 0:9e9b7db60fd5 111 int32_t real;
garyservin 0:9e9b7db60fd5 112 uint32_t base;
garyservin 0:9e9b7db60fd5 113 } u_buffer_size;
garyservin 0:9e9b7db60fd5 114 u_buffer_size.base = 0;
garyservin 0:9e9b7db60fd5 115 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 116 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 117 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 118 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 119 this->buffer_size = u_buffer_size.real;
garyservin 0:9e9b7db60fd5 120 offset += sizeof(this->buffer_size);
garyservin 0:9e9b7db60fd5 121 return offset;
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
garyservin 0:9e9b7db60fd5 125 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
garyservin 0:9e9b7db60fd5 126
garyservin 0:9e9b7db60fd5 127 };
garyservin 0:9e9b7db60fd5 128
garyservin 0:9e9b7db60fd5 129 }
garyservin 0:9e9b7db60fd5 130 #endif