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

shape_msgs/SolidPrimitive.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_shape_msgs_SolidPrimitive_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_shape_msgs_SolidPrimitive_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 shape_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class SolidPrimitive : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint8_t _type_type;
garyservin 0:9e9b7db60fd5 16 _type_type type;
garyservin 0:9e9b7db60fd5 17 uint32_t dimensions_length;
garyservin 0:9e9b7db60fd5 18 typedef double _dimensions_type;
garyservin 0:9e9b7db60fd5 19 _dimensions_type st_dimensions;
garyservin 0:9e9b7db60fd5 20 _dimensions_type * dimensions;
garyservin 0:9e9b7db60fd5 21 enum { BOX = 1 };
garyservin 0:9e9b7db60fd5 22 enum { SPHERE = 2 };
garyservin 0:9e9b7db60fd5 23 enum { CYLINDER = 3 };
garyservin 0:9e9b7db60fd5 24 enum { CONE = 4 };
garyservin 0:9e9b7db60fd5 25 enum { BOX_X = 0 };
garyservin 0:9e9b7db60fd5 26 enum { BOX_Y = 1 };
garyservin 0:9e9b7db60fd5 27 enum { BOX_Z = 2 };
garyservin 0:9e9b7db60fd5 28 enum { SPHERE_RADIUS = 0 };
garyservin 0:9e9b7db60fd5 29 enum { CYLINDER_HEIGHT = 0 };
garyservin 0:9e9b7db60fd5 30 enum { CYLINDER_RADIUS = 1 };
garyservin 0:9e9b7db60fd5 31 enum { CONE_HEIGHT = 0 };
garyservin 0:9e9b7db60fd5 32 enum { CONE_RADIUS = 1 };
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 SolidPrimitive():
garyservin 0:9e9b7db60fd5 35 type(0),
garyservin 0:9e9b7db60fd5 36 dimensions_length(0), dimensions(NULL)
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 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (this->dimensions_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (this->dimensions_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (this->dimensions_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (this->dimensions_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->dimensions_length);
garyservin 0:9e9b7db60fd5 50 for( uint32_t i = 0; i < dimensions_length; i++){
garyservin 0:9e9b7db60fd5 51 union {
garyservin 0:9e9b7db60fd5 52 double real;
garyservin 0:9e9b7db60fd5 53 uint64_t base;
garyservin 0:9e9b7db60fd5 54 } u_dimensionsi;
garyservin 0:9e9b7db60fd5 55 u_dimensionsi.real = this->dimensions[i];
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->dimensions[i]);
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66 return offset;
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 74 uint32_t dimensions_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 75 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->dimensions_length);
garyservin 0:9e9b7db60fd5 79 if(dimensions_lengthT > dimensions_length)
garyservin 0:9e9b7db60fd5 80 this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 81 dimensions_length = dimensions_lengthT;
garyservin 0:9e9b7db60fd5 82 for( uint32_t i = 0; i < dimensions_length; i++){
garyservin 0:9e9b7db60fd5 83 union {
garyservin 0:9e9b7db60fd5 84 double real;
garyservin 0:9e9b7db60fd5 85 uint64_t base;
garyservin 0:9e9b7db60fd5 86 } u_st_dimensions;
garyservin 0:9e9b7db60fd5 87 u_st_dimensions.base = 0;
garyservin 0:9e9b7db60fd5 88 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 89 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 90 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 91 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 92 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 93 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 94 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 95 u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 96 this->st_dimensions = u_st_dimensions.real;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->st_dimensions);
garyservin 0:9e9b7db60fd5 98 memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
garyservin 0:9e9b7db60fd5 99 }
garyservin 0:9e9b7db60fd5 100 return offset;
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102
garyservin 0:9e9b7db60fd5 103 const char * getType(){ return "shape_msgs/SolidPrimitive"; };
garyservin 0:9e9b7db60fd5 104 const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 };
garyservin 0:9e9b7db60fd5 107
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 #endif