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

topic_tools/DemuxAdd.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_SERVICE_DemuxAdd_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_DemuxAdd_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace topic_tools
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char DEMUXADD[] = "topic_tools/DemuxAdd";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class DemuxAddRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _topic_type;
garyservin 0:9e9b7db60fd5 17 _topic_type topic;
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 DemuxAddRequest():
garyservin 0:9e9b7db60fd5 20 topic("")
garyservin 0:9e9b7db60fd5 21 {
garyservin 0:9e9b7db60fd5 22 }
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 int offset = 0;
garyservin 0:9e9b7db60fd5 27 uint32_t length_topic = strlen(this->topic);
garyservin 0:9e9b7db60fd5 28 varToArr(outbuffer + offset, length_topic);
garyservin 0:9e9b7db60fd5 29 offset += 4;
garyservin 0:9e9b7db60fd5 30 memcpy(outbuffer + offset, this->topic, length_topic);
garyservin 0:9e9b7db60fd5 31 offset += length_topic;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_topic;
garyservin 0:9e9b7db60fd5 39 arrToVar(length_topic, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 for(unsigned int k= offset; k< offset+length_topic; ++k){
garyservin 0:9e9b7db60fd5 42 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44 inbuffer[offset+length_topic-1]=0;
garyservin 0:9e9b7db60fd5 45 this->topic = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 46 offset += length_topic;
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 const char * getType(){ return DEMUXADD; };
garyservin 0:9e9b7db60fd5 51 const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 };
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 class DemuxAddResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 DemuxAddResponse()
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 64 {
garyservin 0:9e9b7db60fd5 65 int offset = 0;
garyservin 0:9e9b7db60fd5 66 return offset;
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 const char * getType(){ return DEMUXADD; };
garyservin 0:9e9b7db60fd5 76 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 };
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 class DemuxAdd {
garyservin 0:9e9b7db60fd5 81 public:
garyservin 0:9e9b7db60fd5 82 typedef DemuxAddRequest Request;
garyservin 0:9e9b7db60fd5 83 typedef DemuxAddResponse Response;
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87 #endif