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/Image.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_Image_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_Image_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 Image : 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 uint32_t _height_type;
garyservin 0:9e9b7db60fd5 19 _height_type height;
garyservin 0:9e9b7db60fd5 20 typedef uint32_t _width_type;
garyservin 0:9e9b7db60fd5 21 _width_type width;
garyservin 0:9e9b7db60fd5 22 typedef const char* _encoding_type;
garyservin 0:9e9b7db60fd5 23 _encoding_type encoding;
garyservin 0:9e9b7db60fd5 24 typedef uint8_t _is_bigendian_type;
garyservin 0:9e9b7db60fd5 25 _is_bigendian_type is_bigendian;
garyservin 0:9e9b7db60fd5 26 typedef uint32_t _step_type;
garyservin 0:9e9b7db60fd5 27 _step_type step;
garyservin 0:9e9b7db60fd5 28 uint32_t data_length;
garyservin 0:9e9b7db60fd5 29 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 30 _data_type st_data;
garyservin 0:9e9b7db60fd5 31 _data_type * data;
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 Image():
garyservin 0:9e9b7db60fd5 34 header(),
garyservin 0:9e9b7db60fd5 35 height(0),
garyservin 0:9e9b7db60fd5 36 width(0),
garyservin 0:9e9b7db60fd5 37 encoding(""),
garyservin 0:9e9b7db60fd5 38 is_bigendian(0),
garyservin 0:9e9b7db60fd5 39 step(0),
garyservin 0:9e9b7db60fd5 40 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 58 uint32_t length_encoding = strlen(this->encoding);
garyservin 0:9e9b7db60fd5 59 varToArr(outbuffer + offset, length_encoding);
garyservin 0:9e9b7db60fd5 60 offset += 4;
garyservin 0:9e9b7db60fd5 61 memcpy(outbuffer + offset, this->encoding, length_encoding);
garyservin 0:9e9b7db60fd5 62 offset += length_encoding;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->step);
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 75 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 83 {
garyservin 0:9e9b7db60fd5 84 int offset = 0;
garyservin 0:9e9b7db60fd5 85 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 87 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 88 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 89 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 90 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 91 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 92 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 93 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 94 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 95 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 96 uint32_t length_encoding;
garyservin 0:9e9b7db60fd5 97 arrToVar(length_encoding, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 98 offset += 4;
garyservin 0:9e9b7db60fd5 99 for(unsigned int k= offset; k< offset+length_encoding; ++k){
garyservin 0:9e9b7db60fd5 100 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 inbuffer[offset+length_encoding-1]=0;
garyservin 0:9e9b7db60fd5 103 this->encoding = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 104 offset += length_encoding;
garyservin 0:9e9b7db60fd5 105 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 107 this->step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 108 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 109 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 110 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->step);
garyservin 0:9e9b7db60fd5 112 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 113 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 114 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 115 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 117 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 118 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 119 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 120 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 121 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 122 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 123 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125 return offset;
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127
garyservin 0:9e9b7db60fd5 128 const char * getType(){ return "sensor_msgs/Image"; };
garyservin 0:9e9b7db60fd5 129 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 }
garyservin 0:9e9b7db60fd5 134 #endif