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

diagnostic_msgs/DiagnosticStatus.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_diagnostic_msgs_DiagnosticStatus_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_diagnostic_msgs_DiagnosticStatus_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 #include "diagnostic_msgs/KeyValue.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace diagnostic_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class DiagnosticStatus : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef int8_t _level_type;
garyservin 0:9e9b7db60fd5 17 _level_type level;
garyservin 0:9e9b7db60fd5 18 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 19 _name_type name;
garyservin 0:9e9b7db60fd5 20 typedef const char* _message_type;
garyservin 0:9e9b7db60fd5 21 _message_type message;
garyservin 0:9e9b7db60fd5 22 typedef const char* _hardware_id_type;
garyservin 0:9e9b7db60fd5 23 _hardware_id_type hardware_id;
garyservin 0:9e9b7db60fd5 24 uint32_t values_length;
garyservin 0:9e9b7db60fd5 25 typedef diagnostic_msgs::KeyValue _values_type;
garyservin 0:9e9b7db60fd5 26 _values_type st_values;
garyservin 0:9e9b7db60fd5 27 _values_type * values;
garyservin 0:9e9b7db60fd5 28 enum { OK = 0 };
garyservin 0:9e9b7db60fd5 29 enum { WARN = 1 };
garyservin 0:9e9b7db60fd5 30 enum { ERROR = 2 };
garyservin 0:9e9b7db60fd5 31 enum { STALE = 3 };
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 DiagnosticStatus():
garyservin 0:9e9b7db60fd5 34 level(0),
garyservin 0:9e9b7db60fd5 35 name(""),
garyservin 0:9e9b7db60fd5 36 message(""),
garyservin 0:9e9b7db60fd5 37 hardware_id(""),
garyservin 0:9e9b7db60fd5 38 values_length(0), values(NULL)
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 }
garyservin 0:9e9b7db60fd5 41
garyservin 0:9e9b7db60fd5 42 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 43 {
garyservin 0:9e9b7db60fd5 44 int offset = 0;
garyservin 0:9e9b7db60fd5 45 union {
garyservin 0:9e9b7db60fd5 46 int8_t real;
garyservin 0:9e9b7db60fd5 47 uint8_t base;
garyservin 0:9e9b7db60fd5 48 } u_level;
garyservin 0:9e9b7db60fd5 49 u_level.real = this->level;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 52 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 53 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 54 offset += 4;
garyservin 0:9e9b7db60fd5 55 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 56 offset += length_name;
garyservin 0:9e9b7db60fd5 57 uint32_t length_message = strlen(this->message);
garyservin 0:9e9b7db60fd5 58 varToArr(outbuffer + offset, length_message);
garyservin 0:9e9b7db60fd5 59 offset += 4;
garyservin 0:9e9b7db60fd5 60 memcpy(outbuffer + offset, this->message, length_message);
garyservin 0:9e9b7db60fd5 61 offset += length_message;
garyservin 0:9e9b7db60fd5 62 uint32_t length_hardware_id = strlen(this->hardware_id);
garyservin 0:9e9b7db60fd5 63 varToArr(outbuffer + offset, length_hardware_id);
garyservin 0:9e9b7db60fd5 64 offset += 4;
garyservin 0:9e9b7db60fd5 65 memcpy(outbuffer + offset, this->hardware_id, length_hardware_id);
garyservin 0:9e9b7db60fd5 66 offset += length_hardware_id;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 72 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 73 offset += this->values[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 74 }
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 int8_t real;
garyservin 0:9e9b7db60fd5 83 uint8_t base;
garyservin 0:9e9b7db60fd5 84 } u_level;
garyservin 0:9e9b7db60fd5 85 u_level.base = 0;
garyservin 0:9e9b7db60fd5 86 u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 87 this->level = u_level.real;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->level);
garyservin 0:9e9b7db60fd5 89 uint32_t length_name;
garyservin 0:9e9b7db60fd5 90 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 91 offset += 4;
garyservin 0:9e9b7db60fd5 92 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 93 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 94 }
garyservin 0:9e9b7db60fd5 95 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 96 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 97 offset += length_name;
garyservin 0:9e9b7db60fd5 98 uint32_t length_message;
garyservin 0:9e9b7db60fd5 99 arrToVar(length_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 100 offset += 4;
garyservin 0:9e9b7db60fd5 101 for(unsigned int k= offset; k< offset+length_message; ++k){
garyservin 0:9e9b7db60fd5 102 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104 inbuffer[offset+length_message-1]=0;
garyservin 0:9e9b7db60fd5 105 this->message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 106 offset += length_message;
garyservin 0:9e9b7db60fd5 107 uint32_t length_hardware_id;
garyservin 0:9e9b7db60fd5 108 arrToVar(length_hardware_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 109 offset += 4;
garyservin 0:9e9b7db60fd5 110 for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
garyservin 0:9e9b7db60fd5 111 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 112 }
garyservin 0:9e9b7db60fd5 113 inbuffer[offset+length_hardware_id-1]=0;
garyservin 0:9e9b7db60fd5 114 this->hardware_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 115 offset += length_hardware_id;
garyservin 0:9e9b7db60fd5 116 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 117 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 118 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 119 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 120 offset += sizeof(this->values_length);
garyservin 0:9e9b7db60fd5 121 if(values_lengthT > values_length)
garyservin 0:9e9b7db60fd5 122 this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
garyservin 0:9e9b7db60fd5 123 values_length = values_lengthT;
garyservin 0:9e9b7db60fd5 124 for( uint32_t i = 0; i < values_length; i++){
garyservin 0:9e9b7db60fd5 125 offset += this->st_values.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 126 memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
garyservin 0:9e9b7db60fd5 127 }
garyservin 0:9e9b7db60fd5 128 return offset;
garyservin 0:9e9b7db60fd5 129 }
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
garyservin 0:9e9b7db60fd5 132 const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; };
garyservin 0:9e9b7db60fd5 133
garyservin 0:9e9b7db60fd5 134 };
garyservin 0:9e9b7db60fd5 135
garyservin 0:9e9b7db60fd5 136 }
garyservin 0:9e9b7db60fd5 137 #endif