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

actionlib_tutorials/AveragingFeedback.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_actionlib_tutorials_AveragingFeedback_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_actionlib_tutorials_AveragingFeedback_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace actionlib_tutorials
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class AveragingFeedback : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef int32_t _sample_type;
garyservin 0:9e9b7db60fd5 16 _sample_type sample;
garyservin 0:9e9b7db60fd5 17 typedef float _data_type;
garyservin 0:9e9b7db60fd5 18 _data_type data;
garyservin 0:9e9b7db60fd5 19 typedef float _mean_type;
garyservin 0:9e9b7db60fd5 20 _mean_type mean;
garyservin 0:9e9b7db60fd5 21 typedef float _std_dev_type;
garyservin 0:9e9b7db60fd5 22 _std_dev_type std_dev;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 AveragingFeedback():
garyservin 0:9e9b7db60fd5 25 sample(0),
garyservin 0:9e9b7db60fd5 26 data(0),
garyservin 0:9e9b7db60fd5 27 mean(0),
garyservin 0:9e9b7db60fd5 28 std_dev(0)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 union {
garyservin 0:9e9b7db60fd5 36 int32_t real;
garyservin 0:9e9b7db60fd5 37 uint32_t base;
garyservin 0:9e9b7db60fd5 38 } u_sample;
garyservin 0:9e9b7db60fd5 39 u_sample.real = this->sample;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (u_sample.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (u_sample.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (u_sample.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (u_sample.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->sample);
garyservin 0:9e9b7db60fd5 45 union {
garyservin 0:9e9b7db60fd5 46 float real;
garyservin 0:9e9b7db60fd5 47 uint32_t base;
garyservin 0:9e9b7db60fd5 48 } u_data;
garyservin 0:9e9b7db60fd5 49 u_data.real = this->data;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->data);
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 float real;
garyservin 0:9e9b7db60fd5 57 uint32_t base;
garyservin 0:9e9b7db60fd5 58 } u_mean;
garyservin 0:9e9b7db60fd5 59 u_mean.real = this->mean;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->mean);
garyservin 0:9e9b7db60fd5 65 union {
garyservin 0:9e9b7db60fd5 66 float real;
garyservin 0:9e9b7db60fd5 67 uint32_t base;
garyservin 0:9e9b7db60fd5 68 } u_std_dev;
garyservin 0:9e9b7db60fd5 69 u_std_dev.real = this->std_dev;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->std_dev);
garyservin 0:9e9b7db60fd5 75 return offset;
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 79 {
garyservin 0:9e9b7db60fd5 80 int offset = 0;
garyservin 0:9e9b7db60fd5 81 union {
garyservin 0:9e9b7db60fd5 82 int32_t real;
garyservin 0:9e9b7db60fd5 83 uint32_t base;
garyservin 0:9e9b7db60fd5 84 } u_sample;
garyservin 0:9e9b7db60fd5 85 u_sample.base = 0;
garyservin 0:9e9b7db60fd5 86 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 87 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 88 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 89 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 90 this->sample = u_sample.real;
garyservin 0:9e9b7db60fd5 91 offset += sizeof(this->sample);
garyservin 0:9e9b7db60fd5 92 union {
garyservin 0:9e9b7db60fd5 93 float real;
garyservin 0:9e9b7db60fd5 94 uint32_t base;
garyservin 0:9e9b7db60fd5 95 } u_data;
garyservin 0:9e9b7db60fd5 96 u_data.base = 0;
garyservin 0:9e9b7db60fd5 97 u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 98 u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 99 u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 100 u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 101 this->data = u_data.real;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->data);
garyservin 0:9e9b7db60fd5 103 union {
garyservin 0:9e9b7db60fd5 104 float real;
garyservin 0:9e9b7db60fd5 105 uint32_t base;
garyservin 0:9e9b7db60fd5 106 } u_mean;
garyservin 0:9e9b7db60fd5 107 u_mean.base = 0;
garyservin 0:9e9b7db60fd5 108 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 109 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 110 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 111 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 112 this->mean = u_mean.real;
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->mean);
garyservin 0:9e9b7db60fd5 114 union {
garyservin 0:9e9b7db60fd5 115 float real;
garyservin 0:9e9b7db60fd5 116 uint32_t base;
garyservin 0:9e9b7db60fd5 117 } u_std_dev;
garyservin 0:9e9b7db60fd5 118 u_std_dev.base = 0;
garyservin 0:9e9b7db60fd5 119 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 120 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 121 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 122 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 123 this->std_dev = u_std_dev.real;
garyservin 0:9e9b7db60fd5 124 offset += sizeof(this->std_dev);
garyservin 0:9e9b7db60fd5 125 return offset;
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127
garyservin 0:9e9b7db60fd5 128 const char * getType(){ return "actionlib_tutorials/AveragingFeedback"; };
garyservin 0:9e9b7db60fd5 129 const char * getMD5(){ return "9e8dfc53c2f2a032ca33fa80ec46fd4f"; };
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 }
garyservin 0:9e9b7db60fd5 134 #endif