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/CompressedImage.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_sensor_msgs_CompressedImage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_CompressedImage_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 "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class CompressedImage : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef const char* _format_type;
garyservin 0:9e9b7db60fd5 19 _format_type format;
garyservin 0:9e9b7db60fd5 20 uint32_t data_length;
garyservin 0:9e9b7db60fd5 21 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 22 _data_type st_data;
garyservin 0:9e9b7db60fd5 23 _data_type * data;
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 CompressedImage():
garyservin 0:9e9b7db60fd5 26 header(),
garyservin 0:9e9b7db60fd5 27 format(""),
garyservin 0:9e9b7db60fd5 28 data_length(0), data(NULL)
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 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 36 uint32_t length_format = strlen(this->format);
garyservin 0:9e9b7db60fd5 37 varToArr(outbuffer + offset, length_format);
garyservin 0:9e9b7db60fd5 38 offset += 4;
garyservin 0:9e9b7db60fd5 39 memcpy(outbuffer + offset, this->format, length_format);
garyservin 0:9e9b7db60fd5 40 offset += length_format;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 46 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 57 uint32_t length_format;
garyservin 0:9e9b7db60fd5 58 arrToVar(length_format, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 59 offset += 4;
garyservin 0:9e9b7db60fd5 60 for(unsigned int k= offset; k< offset+length_format; ++k){
garyservin 0:9e9b7db60fd5 61 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63 inbuffer[offset+length_format-1]=0;
garyservin 0:9e9b7db60fd5 64 this->format = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 65 offset += length_format;
garyservin 0:9e9b7db60fd5 66 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 67 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 68 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 69 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 71 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 72 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 73 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 74 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 75 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 const char * getType(){ return "sensor_msgs/CompressedImage"; };
garyservin 0:9e9b7db60fd5 83 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 #endif