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/Spawn.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_Spawn_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_Spawn_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 turtlesim
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char SPAWN[] = "turtlesim/Spawn";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class SpawnRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef float _x_type;
garyservin 0:9e9b7db60fd5 17 _x_type x;
garyservin 0:9e9b7db60fd5 18 typedef float _y_type;
garyservin 0:9e9b7db60fd5 19 _y_type y;
garyservin 0:9e9b7db60fd5 20 typedef float _theta_type;
garyservin 0:9e9b7db60fd5 21 _theta_type theta;
garyservin 0:9e9b7db60fd5 22 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 23 _name_type name;
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 SpawnRequest():
garyservin 0:9e9b7db60fd5 26 x(0),
garyservin 0:9e9b7db60fd5 27 y(0),
garyservin 0:9e9b7db60fd5 28 theta(0),
garyservin 0:9e9b7db60fd5 29 name("")
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 int offset = 0;
garyservin 0:9e9b7db60fd5 36 union {
garyservin 0:9e9b7db60fd5 37 float real;
garyservin 0:9e9b7db60fd5 38 uint32_t base;
garyservin 0:9e9b7db60fd5 39 } u_x;
garyservin 0:9e9b7db60fd5 40 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 46 union {
garyservin 0:9e9b7db60fd5 47 float real;
garyservin 0:9e9b7db60fd5 48 uint32_t base;
garyservin 0:9e9b7db60fd5 49 } u_y;
garyservin 0:9e9b7db60fd5 50 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 float real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_theta;
garyservin 0:9e9b7db60fd5 60 u_theta.real = this->theta;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 66 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 67 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 68 offset += 4;
garyservin 0:9e9b7db60fd5 69 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 70 offset += length_name;
garyservin 0:9e9b7db60fd5 71 return offset;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 75 {
garyservin 0:9e9b7db60fd5 76 int offset = 0;
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 float real;
garyservin 0:9e9b7db60fd5 79 uint32_t base;
garyservin 0:9e9b7db60fd5 80 } u_x;
garyservin 0:9e9b7db60fd5 81 u_x.base = 0;
garyservin 0:9e9b7db60fd5 82 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 83 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 88 union {
garyservin 0:9e9b7db60fd5 89 float real;
garyservin 0:9e9b7db60fd5 90 uint32_t base;
garyservin 0:9e9b7db60fd5 91 } u_y;
garyservin 0:9e9b7db60fd5 92 u_y.base = 0;
garyservin 0:9e9b7db60fd5 93 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 94 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 95 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 96 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 97 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 float real;
garyservin 0:9e9b7db60fd5 101 uint32_t base;
garyservin 0:9e9b7db60fd5 102 } u_theta;
garyservin 0:9e9b7db60fd5 103 u_theta.base = 0;
garyservin 0:9e9b7db60fd5 104 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 105 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 106 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 107 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 108 this->theta = u_theta.real;
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 110 uint32_t length_name;
garyservin 0:9e9b7db60fd5 111 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 112 offset += 4;
garyservin 0:9e9b7db60fd5 113 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 114 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 115 }
garyservin 0:9e9b7db60fd5 116 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 117 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 118 offset += length_name;
garyservin 0:9e9b7db60fd5 119 return offset;
garyservin 0:9e9b7db60fd5 120 }
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 const char * getType(){ return SPAWN; };
garyservin 0:9e9b7db60fd5 123 const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
garyservin 0:9e9b7db60fd5 124
garyservin 0:9e9b7db60fd5 125 };
garyservin 0:9e9b7db60fd5 126
garyservin 0:9e9b7db60fd5 127 class SpawnResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 128 {
garyservin 0:9e9b7db60fd5 129 public:
garyservin 0:9e9b7db60fd5 130 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 131 _name_type name;
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 SpawnResponse():
garyservin 0:9e9b7db60fd5 134 name("")
garyservin 0:9e9b7db60fd5 135 {
garyservin 0:9e9b7db60fd5 136 }
garyservin 0:9e9b7db60fd5 137
garyservin 0:9e9b7db60fd5 138 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 139 {
garyservin 0:9e9b7db60fd5 140 int offset = 0;
garyservin 0:9e9b7db60fd5 141 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 142 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 143 offset += 4;
garyservin 0:9e9b7db60fd5 144 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 145 offset += length_name;
garyservin 0:9e9b7db60fd5 146 return offset;
garyservin 0:9e9b7db60fd5 147 }
garyservin 0:9e9b7db60fd5 148
garyservin 0:9e9b7db60fd5 149 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 150 {
garyservin 0:9e9b7db60fd5 151 int offset = 0;
garyservin 0:9e9b7db60fd5 152 uint32_t length_name;
garyservin 0:9e9b7db60fd5 153 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 154 offset += 4;
garyservin 0:9e9b7db60fd5 155 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 156 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 157 }
garyservin 0:9e9b7db60fd5 158 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 159 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 160 offset += length_name;
garyservin 0:9e9b7db60fd5 161 return offset;
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163
garyservin 0:9e9b7db60fd5 164 const char * getType(){ return SPAWN; };
garyservin 0:9e9b7db60fd5 165 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
garyservin 0:9e9b7db60fd5 166
garyservin 0:9e9b7db60fd5 167 };
garyservin 0:9e9b7db60fd5 168
garyservin 0:9e9b7db60fd5 169 class Spawn {
garyservin 0:9e9b7db60fd5 170 public:
garyservin 0:9e9b7db60fd5 171 typedef SpawnRequest Request;
garyservin 0:9e9b7db60fd5 172 typedef SpawnResponse Response;
garyservin 0:9e9b7db60fd5 173 };
garyservin 0:9e9b7db60fd5 174
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176 #endif