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

sensor_msgs/ChannelFloat32.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_sensor_msgs_ChannelFloat32_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_ChannelFloat32_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 sensor_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class ChannelFloat32 : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 uint32_t values_length;
garyservin 0:9e9b7db60fd5 18 typedef float _values_type;
garyservin 0:9e9b7db60fd5 19 _values_type st_values;
garyservin 0:9e9b7db60fd5 20 _values_type * values;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 ChannelFloat32():
garyservin 0:9e9b7db60fd5 23 name(""),
garyservin 0:9e9b7db60fd5 24 values_length(0), values(NULL)
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 }
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 int offset = 0;
garyservin 0:9e9b7db60fd5 31 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 35 offset += length_name;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 41 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 42 union {
garyservin 0:9e9b7db60fd5 43 float real;
garyservin 0:9e9b7db60fd5 44 uint32_t base;
garyservin 0:9e9b7db60fd5 45 } u_valuesi;
garyservin 0:9e9b7db60fd5 46 u_valuesi.real = this->values[i];
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->values[i]);
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53 return offset;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 57 {
garyservin 0:9e9b7db60fd5 58 int offset = 0;
garyservin 0:9e9b7db60fd5 59 uint32_t length_name;
garyservin 0:9e9b7db60fd5 60 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 61 offset += 4;
garyservin 0:9e9b7db60fd5 62 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 63 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 64 }
garyservin 0:9e9b7db60fd5 65 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 66 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 67 offset += length_name;
garyservin 0:9e9b7db60fd5 68 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 69 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 73 if(values_lengthT > values_length)
garyservin 0:9e9b7db60fd5 74 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 75 values_length = values_lengthT;
garyservin 0:9e9b7db60fd5 76 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 float real;
garyservin 0:9e9b7db60fd5 79 uint32_t base;
garyservin 0:9e9b7db60fd5 80 } u_st_values;
garyservin 0:9e9b7db60fd5 81 u_st_values.base = 0;
garyservin 0:9e9b7db60fd5 82 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 83 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 this->st_values = u_st_values.real;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->st_values);
garyservin 0:9e9b7db60fd5 88 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
garyservin 0:9e9b7db60fd5 94 const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 };
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 }
garyservin 0:9e9b7db60fd5 99 #endif