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/PointField.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_PointField_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_PointField_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 PointField : 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 typedef uint32_t _offset_type;
garyservin 0:9e9b7db60fd5 18 _offset_type offset;
garyservin 0:9e9b7db60fd5 19 typedef uint8_t _datatype_type;
garyservin 0:9e9b7db60fd5 20 _datatype_type datatype;
garyservin 0:9e9b7db60fd5 21 typedef uint32_t _count_type;
garyservin 0:9e9b7db60fd5 22 _count_type count;
garyservin 0:9e9b7db60fd5 23 enum { INT8 = 1 };
garyservin 0:9e9b7db60fd5 24 enum { UINT8 = 2 };
garyservin 0:9e9b7db60fd5 25 enum { INT16 = 3 };
garyservin 0:9e9b7db60fd5 26 enum { UINT16 = 4 };
garyservin 0:9e9b7db60fd5 27 enum { INT32 = 5 };
garyservin 0:9e9b7db60fd5 28 enum { UINT32 = 6 };
garyservin 0:9e9b7db60fd5 29 enum { FLOAT32 = 7 };
garyservin 0:9e9b7db60fd5 30 enum { FLOAT64 = 8 };
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 PointField():
garyservin 0:9e9b7db60fd5 33 name(""),
garyservin 0:9e9b7db60fd5 34 offset(0),
garyservin 0:9e9b7db60fd5 35 datatype(0),
garyservin 0:9e9b7db60fd5 36 count(0)
garyservin 0:9e9b7db60fd5 37 {
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 47 offset += length_name;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->offset);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->datatype);
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->count);
garyservin 0:9e9b7db60fd5 60 return offset;
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 int offset = 0;
garyservin 0:9e9b7db60fd5 66 uint32_t length_name;
garyservin 0:9e9b7db60fd5 67 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 68 offset += 4;
garyservin 0:9e9b7db60fd5 69 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 70 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 73 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 74 offset += length_name;
garyservin 0:9e9b7db60fd5 75 this->offset = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 76 this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 77 this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 78 this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->offset);
garyservin 0:9e9b7db60fd5 80 this->datatype = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->datatype);
garyservin 0:9e9b7db60fd5 82 this->count = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 83 this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->count);
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 const char * getType(){ return "sensor_msgs/PointField"; };
garyservin 0:9e9b7db60fd5 91 const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 #endif