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
sensor_msgs/MultiEchoLaserScan.h
- Committer:
- jacobepfl1692
- Date:
- 2017-10-17
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:9114cc24ddcf:
#ifndef _ROS_sensor_msgs_MultiEchoLaserScan_h #define _ROS_sensor_msgs_MultiEchoLaserScan_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/LaserEcho.h" namespace sensor_msgs { class MultiEchoLaserScan : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef float _angle_min_type; _angle_min_type angle_min; typedef float _angle_max_type; _angle_max_type angle_max; typedef float _angle_increment_type; _angle_increment_type angle_increment; typedef float _time_increment_type; _time_increment_type time_increment; typedef float _scan_time_type; _scan_time_type scan_time; typedef float _range_min_type; _range_min_type range_min; typedef float _range_max_type; _range_max_type range_max; uint32_t ranges_length; typedef sensor_msgs::LaserEcho _ranges_type; _ranges_type st_ranges; _ranges_type * ranges; uint32_t intensities_length; typedef sensor_msgs::LaserEcho _intensities_type; _intensities_type st_intensities; _intensities_type * intensities; MultiEchoLaserScan(): header(), angle_min(0), angle_max(0), angle_increment(0), time_increment(0), scan_time(0), range_min(0), range_max(0), ranges_length(0), ranges(NULL), intensities_length(0), intensities(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); union { float real; uint32_t base; } u_angle_min; u_angle_min.real = this->angle_min; *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_min); union { float real; uint32_t base; } u_angle_max; u_angle_max.real = this->angle_max; *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_max); union { float real; uint32_t base; } u_angle_increment; u_angle_increment.real = this->angle_increment; *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_increment); union { float real; uint32_t base; } u_time_increment; u_time_increment.real = this->time_increment; *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF; offset += sizeof(this->time_increment); union { float real; uint32_t base; } u_scan_time; u_scan_time.real = this->scan_time; *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF; offset += sizeof(this->scan_time); union { float real; uint32_t base; } u_range_min; u_range_min.real = this->range_min; *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF; offset += sizeof(this->range_min); union { float real; uint32_t base; } u_range_max; u_range_max.real = this->range_max; *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF; offset += sizeof(this->range_max); *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF; offset += sizeof(this->ranges_length); for( uint32_t i = 0; i < ranges_length; i++){ offset += this->ranges[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF; offset += sizeof(this->intensities_length); for( uint32_t i = 0; i < intensities_length; i++){ offset += this->intensities[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); union { float real; uint32_t base; } u_angle_min; u_angle_min.base = 0; u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_min = u_angle_min.real; offset += sizeof(this->angle_min); union { float real; uint32_t base; } u_angle_max; u_angle_max.base = 0; u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_max = u_angle_max.real; offset += sizeof(this->angle_max); union { float real; uint32_t base; } u_angle_increment; u_angle_increment.base = 0; u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_increment = u_angle_increment.real; offset += sizeof(this->angle_increment); union { float real; uint32_t base; } u_time_increment; u_time_increment.base = 0; u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->time_increment = u_time_increment.real; offset += sizeof(this->time_increment); union { float real; uint32_t base; } u_scan_time; u_scan_time.base = 0; u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->scan_time = u_scan_time.real; offset += sizeof(this->scan_time); union { float real; uint32_t base; } u_range_min; u_range_min.base = 0; u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->range_min = u_range_min.real; offset += sizeof(this->range_min); union { float real; uint32_t base; } u_range_max; u_range_max.base = 0; u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->range_max = u_range_max.real; offset += sizeof(this->range_max); uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset))); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->ranges_length); if(ranges_lengthT > ranges_length) this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho)); ranges_length = ranges_lengthT; for( uint32_t i = 0; i < ranges_length; i++){ offset += this->st_ranges.deserialize(inbuffer + offset); memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho)); } uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset))); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->intensities_length); if(intensities_lengthT > intensities_length) this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho)); intensities_length = intensities_lengthT; for( uint32_t i = 0; i < intensities_length; i++){ offset += this->st_intensities.deserialize(inbuffer + offset); memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho)); } return offset; } const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; }; const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; }; }; } #endif