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

rosserial_arduino/Adc.h

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

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_rosserial_arduino_Adc_h
#define _ROS_rosserial_arduino_Adc_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace rosserial_arduino
{

  class Adc : public ros::Msg
  {
    public:
      typedef uint16_t _adc0_type;
      _adc0_type adc0;
      typedef uint16_t _adc1_type;
      _adc1_type adc1;
      typedef uint16_t _adc2_type;
      _adc2_type adc2;
      typedef uint16_t _adc3_type;
      _adc3_type adc3;
      typedef uint16_t _adc4_type;
      _adc4_type adc4;
      typedef uint16_t _adc5_type;
      _adc5_type adc5;

    Adc():
      adc0(0),
      adc1(0),
      adc2(0),
      adc3(0),
      adc4(0),
      adc5(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc0);
      *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc1);
      *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc2);
      *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc3);
      *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc4);
      *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
      offset += sizeof(this->adc5);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      this->adc0 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc0);
      this->adc1 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc1);
      this->adc2 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc2);
      this->adc3 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc3);
      this->adc4 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc4);
      this->adc5 =  ((uint16_t) (*(inbuffer + offset)));
      this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
      offset += sizeof(this->adc5);
     return offset;
    }

    const char * getType(){ return "rosserial_arduino/Adc"; };
    const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };

  };

}
#endif