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/Range.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_Range_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_Range_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 sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Range : 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 uint8_t _radiation_type_type;
garyservin 0:9e9b7db60fd5 19 _radiation_type_type radiation_type;
garyservin 0:9e9b7db60fd5 20 typedef float _field_of_view_type;
garyservin 0:9e9b7db60fd5 21 _field_of_view_type field_of_view;
garyservin 0:9e9b7db60fd5 22 typedef float _min_range_type;
garyservin 0:9e9b7db60fd5 23 _min_range_type min_range;
garyservin 0:9e9b7db60fd5 24 typedef float _max_range_type;
garyservin 0:9e9b7db60fd5 25 _max_range_type max_range;
garyservin 0:9e9b7db60fd5 26 typedef float _range_type;
garyservin 0:9e9b7db60fd5 27 _range_type range;
garyservin 0:9e9b7db60fd5 28 enum { ULTRASOUND = 0 };
garyservin 0:9e9b7db60fd5 29 enum { INFRARED = 1 };
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 Range():
garyservin 0:9e9b7db60fd5 32 header(),
garyservin 0:9e9b7db60fd5 33 radiation_type(0),
garyservin 0:9e9b7db60fd5 34 field_of_view(0),
garyservin 0:9e9b7db60fd5 35 min_range(0),
garyservin 0:9e9b7db60fd5 36 max_range(0),
garyservin 0:9e9b7db60fd5 37 range(0)
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->radiation_type);
garyservin 0:9e9b7db60fd5 47 union {
garyservin 0:9e9b7db60fd5 48 float real;
garyservin 0:9e9b7db60fd5 49 uint32_t base;
garyservin 0:9e9b7db60fd5 50 } u_field_of_view;
garyservin 0:9e9b7db60fd5 51 u_field_of_view.real = this->field_of_view;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->field_of_view);
garyservin 0:9e9b7db60fd5 57 union {
garyservin 0:9e9b7db60fd5 58 float real;
garyservin 0:9e9b7db60fd5 59 uint32_t base;
garyservin 0:9e9b7db60fd5 60 } u_min_range;
garyservin 0:9e9b7db60fd5 61 u_min_range.real = this->min_range;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->min_range);
garyservin 0:9e9b7db60fd5 67 union {
garyservin 0:9e9b7db60fd5 68 float real;
garyservin 0:9e9b7db60fd5 69 uint32_t base;
garyservin 0:9e9b7db60fd5 70 } u_max_range;
garyservin 0:9e9b7db60fd5 71 u_max_range.real = this->max_range;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->max_range);
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 float real;
garyservin 0:9e9b7db60fd5 79 uint32_t base;
garyservin 0:9e9b7db60fd5 80 } u_range;
garyservin 0:9e9b7db60fd5 81 u_range.real = this->range;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->range);
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 91 {
garyservin 0:9e9b7db60fd5 92 int offset = 0;
garyservin 0:9e9b7db60fd5 93 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 94 this->radiation_type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 offset += sizeof(this->radiation_type);
garyservin 0:9e9b7db60fd5 96 union {
garyservin 0:9e9b7db60fd5 97 float real;
garyservin 0:9e9b7db60fd5 98 uint32_t base;
garyservin 0:9e9b7db60fd5 99 } u_field_of_view;
garyservin 0:9e9b7db60fd5 100 u_field_of_view.base = 0;
garyservin 0:9e9b7db60fd5 101 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 102 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 103 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 104 u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 105 this->field_of_view = u_field_of_view.real;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->field_of_view);
garyservin 0:9e9b7db60fd5 107 union {
garyservin 0:9e9b7db60fd5 108 float real;
garyservin 0:9e9b7db60fd5 109 uint32_t base;
garyservin 0:9e9b7db60fd5 110 } u_min_range;
garyservin 0:9e9b7db60fd5 111 u_min_range.base = 0;
garyservin 0:9e9b7db60fd5 112 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 113 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 114 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 115 u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 116 this->min_range = u_min_range.real;
garyservin 0:9e9b7db60fd5 117 offset += sizeof(this->min_range);
garyservin 0:9e9b7db60fd5 118 union {
garyservin 0:9e9b7db60fd5 119 float real;
garyservin 0:9e9b7db60fd5 120 uint32_t base;
garyservin 0:9e9b7db60fd5 121 } u_max_range;
garyservin 0:9e9b7db60fd5 122 u_max_range.base = 0;
garyservin 0:9e9b7db60fd5 123 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 124 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 125 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 126 u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 127 this->max_range = u_max_range.real;
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->max_range);
garyservin 0:9e9b7db60fd5 129 union {
garyservin 0:9e9b7db60fd5 130 float real;
garyservin 0:9e9b7db60fd5 131 uint32_t base;
garyservin 0:9e9b7db60fd5 132 } u_range;
garyservin 0:9e9b7db60fd5 133 u_range.base = 0;
garyservin 0:9e9b7db60fd5 134 u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 135 u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 136 u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 137 u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 138 this->range = u_range.real;
garyservin 0:9e9b7db60fd5 139 offset += sizeof(this->range);
garyservin 0:9e9b7db60fd5 140 return offset;
garyservin 0:9e9b7db60fd5 141 }
garyservin 0:9e9b7db60fd5 142
garyservin 0:9e9b7db60fd5 143 const char * getType(){ return "sensor_msgs/Range"; };
garyservin 0:9e9b7db60fd5 144 const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };
garyservin 0:9e9b7db60fd5 145
garyservin 0:9e9b7db60fd5 146 };
garyservin 0:9e9b7db60fd5 147
garyservin 0:9e9b7db60fd5 148 }
garyservin 0:9e9b7db60fd5 149 #endif