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

turtlesim/Pose.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_turtlesim_Pose_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_turtlesim_Pose_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
garyservin 0:9e9b7db60fd5 9 namespace turtlesim
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Pose : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef float _x_type;
garyservin 0:9e9b7db60fd5 16 _x_type x;
garyservin 0:9e9b7db60fd5 17 typedef float _y_type;
garyservin 0:9e9b7db60fd5 18 _y_type y;
garyservin 0:9e9b7db60fd5 19 typedef float _theta_type;
garyservin 0:9e9b7db60fd5 20 _theta_type theta;
garyservin 0:9e9b7db60fd5 21 typedef float _linear_velocity_type;
garyservin 0:9e9b7db60fd5 22 _linear_velocity_type linear_velocity;
garyservin 0:9e9b7db60fd5 23 typedef float _angular_velocity_type;
garyservin 0:9e9b7db60fd5 24 _angular_velocity_type angular_velocity;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 Pose():
garyservin 0:9e9b7db60fd5 27 x(0),
garyservin 0:9e9b7db60fd5 28 y(0),
garyservin 0:9e9b7db60fd5 29 theta(0),
garyservin 0:9e9b7db60fd5 30 linear_velocity(0),
garyservin 0:9e9b7db60fd5 31 angular_velocity(0)
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 union {
garyservin 0:9e9b7db60fd5 39 float real;
garyservin 0:9e9b7db60fd5 40 uint32_t base;
garyservin 0:9e9b7db60fd5 41 } u_x;
garyservin 0:9e9b7db60fd5 42 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 float real;
garyservin 0:9e9b7db60fd5 50 uint32_t base;
garyservin 0:9e9b7db60fd5 51 } u_y;
garyservin 0:9e9b7db60fd5 52 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 58 union {
garyservin 0:9e9b7db60fd5 59 float real;
garyservin 0:9e9b7db60fd5 60 uint32_t base;
garyservin 0:9e9b7db60fd5 61 } u_theta;
garyservin 0:9e9b7db60fd5 62 u_theta.real = this->theta;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 68 union {
garyservin 0:9e9b7db60fd5 69 float real;
garyservin 0:9e9b7db60fd5 70 uint32_t base;
garyservin 0:9e9b7db60fd5 71 } u_linear_velocity;
garyservin 0:9e9b7db60fd5 72 u_linear_velocity.real = this->linear_velocity;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->linear_velocity);
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 float real;
garyservin 0:9e9b7db60fd5 80 uint32_t base;
garyservin 0:9e9b7db60fd5 81 } u_angular_velocity;
garyservin 0:9e9b7db60fd5 82 u_angular_velocity.real = this->angular_velocity;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->angular_velocity);
garyservin 0:9e9b7db60fd5 88 return offset;
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 92 {
garyservin 0:9e9b7db60fd5 93 int offset = 0;
garyservin 0:9e9b7db60fd5 94 union {
garyservin 0:9e9b7db60fd5 95 float real;
garyservin 0:9e9b7db60fd5 96 uint32_t base;
garyservin 0:9e9b7db60fd5 97 } u_x;
garyservin 0:9e9b7db60fd5 98 u_x.base = 0;
garyservin 0:9e9b7db60fd5 99 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 100 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 103 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 104 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 105 union {
garyservin 0:9e9b7db60fd5 106 float real;
garyservin 0:9e9b7db60fd5 107 uint32_t base;
garyservin 0:9e9b7db60fd5 108 } u_y;
garyservin 0:9e9b7db60fd5 109 u_y.base = 0;
garyservin 0:9e9b7db60fd5 110 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 111 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 114 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 float real;
garyservin 0:9e9b7db60fd5 118 uint32_t base;
garyservin 0:9e9b7db60fd5 119 } u_theta;
garyservin 0:9e9b7db60fd5 120 u_theta.base = 0;
garyservin 0:9e9b7db60fd5 121 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 122 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 123 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 124 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 125 this->theta = u_theta.real;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 float real;
garyservin 0:9e9b7db60fd5 129 uint32_t base;
garyservin 0:9e9b7db60fd5 130 } u_linear_velocity;
garyservin 0:9e9b7db60fd5 131 u_linear_velocity.base = 0;
garyservin 0:9e9b7db60fd5 132 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 this->linear_velocity = u_linear_velocity.real;
garyservin 0:9e9b7db60fd5 137 offset += sizeof(this->linear_velocity);
garyservin 0:9e9b7db60fd5 138 union {
garyservin 0:9e9b7db60fd5 139 float real;
garyservin 0:9e9b7db60fd5 140 uint32_t base;
garyservin 0:9e9b7db60fd5 141 } u_angular_velocity;
garyservin 0:9e9b7db60fd5 142 u_angular_velocity.base = 0;
garyservin 0:9e9b7db60fd5 143 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 144 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 145 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 146 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 147 this->angular_velocity = u_angular_velocity.real;
garyservin 0:9e9b7db60fd5 148 offset += sizeof(this->angular_velocity);
garyservin 0:9e9b7db60fd5 149 return offset;
garyservin 0:9e9b7db60fd5 150 }
garyservin 0:9e9b7db60fd5 151
garyservin 0:9e9b7db60fd5 152 const char * getType(){ return "turtlesim/Pose"; };
garyservin 0:9e9b7db60fd5 153 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
garyservin 0:9e9b7db60fd5 154
garyservin 0:9e9b7db60fd5 155 };
garyservin 0:9e9b7db60fd5 156
garyservin 0:9e9b7db60fd5 157 }
garyservin 0:9e9b7db60fd5 158 #endif