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

map_msgs/GetMapROI.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_SERVICE_GetMapROI_h
#define _ROS_SERVICE_GetMapROI_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "nav_msgs/OccupancyGrid.h"

namespace map_msgs
{

static const char GETMAPROI[] = "map_msgs/GetMapROI";

  class GetMapROIRequest : public ros::Msg
  {
    public:
      typedef double _x_type;
      _x_type x;
      typedef double _y_type;
      _y_type y;
      typedef double _l_x_type;
      _l_x_type l_x;
      typedef double _l_y_type;
      _l_y_type l_y;

    GetMapROIRequest():
      x(0),
      y(0),
      l_x(0),
      l_y(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        double real;
        uint64_t base;
      } u_x;
      u_x.real = this->x;
      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->x);
      union {
        double real;
        uint64_t base;
      } u_y;
      u_y.real = this->y;
      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->y);
      union {
        double real;
        uint64_t base;
      } u_l_x;
      u_l_x.real = this->l_x;
      *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->l_x);
      union {
        double real;
        uint64_t base;
      } u_l_y;
      u_l_y.real = this->l_y;
      *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->l_y);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        double real;
        uint64_t base;
      } u_x;
      u_x.base = 0;
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->x = u_x.real;
      offset += sizeof(this->x);
      union {
        double real;
        uint64_t base;
      } u_y;
      u_y.base = 0;
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->y = u_y.real;
      offset += sizeof(this->y);
      union {
        double real;
        uint64_t base;
      } u_l_x;
      u_l_x.base = 0;
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->l_x = u_l_x.real;
      offset += sizeof(this->l_x);
      union {
        double real;
        uint64_t base;
      } u_l_y;
      u_l_y.base = 0;
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->l_y = u_l_y.real;
      offset += sizeof(this->l_y);
     return offset;
    }

    const char * getType(){ return GETMAPROI; };
    const char * getMD5(){ return "43c2ff8f45af555c0eaf070c401e9a47"; };

  };

  class GetMapROIResponse : public ros::Msg
  {
    public:
      typedef nav_msgs::OccupancyGrid _sub_map_type;
      _sub_map_type sub_map;

    GetMapROIResponse():
      sub_map()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->sub_map.serialize(outbuffer + offset);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->sub_map.deserialize(inbuffer + offset);
     return offset;
    }

    const char * getType(){ return GETMAPROI; };
    const char * getMD5(){ return "4d1986519c00d81967d2891a606b234c"; };

  };

  class GetMapROI {
    public:
    typedef GetMapROIRequest Request;
    typedef GetMapROIResponse Response;
  };

}
#endif