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/PointCloud.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_PointCloud_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_PointCloud_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 #include "geometry_msgs/Point32.h"
garyservin 0:9e9b7db60fd5 10 #include "sensor_msgs/ChannelFloat32.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class PointCloud : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 19 _header_type header;
garyservin 0:9e9b7db60fd5 20 uint32_t points_length;
garyservin 0:9e9b7db60fd5 21 typedef geometry_msgs::Point32 _points_type;
garyservin 0:9e9b7db60fd5 22 _points_type st_points;
garyservin 0:9e9b7db60fd5 23 _points_type * points;
garyservin 0:9e9b7db60fd5 24 uint32_t channels_length;
garyservin 0:9e9b7db60fd5 25 typedef sensor_msgs::ChannelFloat32 _channels_type;
garyservin 0:9e9b7db60fd5 26 _channels_type st_channels;
garyservin 0:9e9b7db60fd5 27 _channels_type * channels;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 PointCloud():
garyservin 0:9e9b7db60fd5 30 header(),
garyservin 0:9e9b7db60fd5 31 points_length(0), points(NULL),
garyservin 0:9e9b7db60fd5 32 channels_length(0), channels(NULL)
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 }
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 37 {
garyservin 0:9e9b7db60fd5 38 int offset = 0;
garyservin 0:9e9b7db60fd5 39 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->points_length);
garyservin 0:9e9b7db60fd5 45 for( uint32_t i = 0; i < points_length; i++){
garyservin 0:9e9b7db60fd5 46 offset += this->points[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 47 }
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->channels_length);
garyservin 0:9e9b7db60fd5 53 for( uint32_t i = 0; i < channels_length; i++){
garyservin 0:9e9b7db60fd5 54 offset += this->channels[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56 return offset;
garyservin 0:9e9b7db60fd5 57 }
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 int offset = 0;
garyservin 0:9e9b7db60fd5 62 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 63 uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 64 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 65 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 66 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->points_length);
garyservin 0:9e9b7db60fd5 68 if(points_lengthT > points_length)
garyservin 0:9e9b7db60fd5 69 this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
garyservin 0:9e9b7db60fd5 70 points_length = points_lengthT;
garyservin 0:9e9b7db60fd5 71 for( uint32_t i = 0; i < points_length; i++){
garyservin 0:9e9b7db60fd5 72 offset += this->st_points.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 73 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
garyservin 0:9e9b7db60fd5 74 }
garyservin 0:9e9b7db60fd5 75 uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 76 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 77 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 78 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->channels_length);
garyservin 0:9e9b7db60fd5 80 if(channels_lengthT > channels_length)
garyservin 0:9e9b7db60fd5 81 this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
garyservin 0:9e9b7db60fd5 82 channels_length = channels_lengthT;
garyservin 0:9e9b7db60fd5 83 for( uint32_t i = 0; i < channels_length; i++){
garyservin 0:9e9b7db60fd5 84 offset += this->st_channels.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 85 memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 return offset;
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 const char * getType(){ return "sensor_msgs/PointCloud"; };
garyservin 0:9e9b7db60fd5 91 const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 };
garyservin 0:9e9b7db60fd5 94
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 #endif