Jacob Hernandez
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
Fork of
ros_lib_kinetic
by 
Gary Servin
Diff: std_msgs/ByteMultiArray.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/ByteMultiArray.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_ByteMultiArray_h
+#define _ROS_std_msgs_ByteMultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+ class ByteMultiArray : public ros::Msg
+ {
+ public:
+ typedef std_msgs::MultiArrayLayout _layout_type;
+ _layout_type layout;
+ uint32_t data_length;
+ typedef int8_t _data_type;
+ _data_type st_data;
+ _data_type * data;
+
+ ByteMultiArray():
+ layout(),
+ data_length(0), data(NULL)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->data_length);
+ for( uint32_t i = 0; i < data_length; i++){
+ union {
+ int8_t real;
+ uint8_t base;
+ } u_datai;
+ u_datai.real = this->data[i];
+ *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->data[i]);
+ }
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->data_length);
+ if(data_lengthT > data_length)
+ this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+ data_length = data_lengthT;
+ for( uint32_t i = 0; i < data_length; i++){
+ union {
+ int8_t real;
+ uint8_t base;
+ } u_st_data;
+ u_st_data.base = 0;
+ u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->st_data = u_st_data.real;
+ offset += sizeof(this->st_data);
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+ }
+ return offset;
+ }
+
+ const char * getType(){ return "std_msgs/ByteMultiArray"; };
+ const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
+
+ };
+
+}
+#endif
\ No newline at end of file