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/ChannelFloat32.h

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

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_sensor_msgs_ChannelFloat32_h
#define _ROS_sensor_msgs_ChannelFloat32_h

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

namespace sensor_msgs
{

  class ChannelFloat32 : public ros::Msg
  {
    public:
      typedef const char* _name_type;
      _name_type name;
      uint32_t values_length;
      typedef float _values_type;
      _values_type st_values;
      _values_type * values;

    ChannelFloat32():
      name(""),
      values_length(0), values(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_name = strlen(this->name);
      varToArr(outbuffer + offset, length_name);
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->values_length);
      for( uint32_t i = 0; i < values_length; i++){
      union {
        float real;
        uint32_t base;
      } u_valuesi;
      u_valuesi.real = this->values[i];
      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->values[i]);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_name;
      arrToVar(length_name, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
      uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->values_length);
      if(values_lengthT > values_length)
        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
      values_length = values_lengthT;
      for( uint32_t i = 0; i < values_length; i++){
      union {
        float real;
        uint32_t base;
      } u_st_values;
      u_st_values.base = 0;
      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->st_values = u_st_values.real;
      offset += sizeof(this->st_values);
        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
      }
     return offset;
    }

    const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
    const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };

  };

}
#endif