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
Fork of ros_lib_kinetic by
laser_assembler/AssembleScans.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_AssembleScans_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_AssembleScans_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 | #include "ros/time.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "sensor_msgs/PointCloud.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace laser_assembler |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | static const char ASSEMBLESCANS[] = "laser_assembler/AssembleScans"; |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class AssembleScansRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef ros::Time _begin_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _begin_type begin; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef ros::Time _end_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _end_type end; |
garyservin | 0:9e9b7db60fd5 | 22 | |
garyservin | 0:9e9b7db60fd5 | 23 | AssembleScansRequest(): |
garyservin | 0:9e9b7db60fd5 | 24 | begin(), |
garyservin | 0:9e9b7db60fd5 | 25 | end() |
garyservin | 0:9e9b7db60fd5 | 26 | { |
garyservin | 0:9e9b7db60fd5 | 27 | } |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 30 | { |
garyservin | 0:9e9b7db60fd5 | 31 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 32 | *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 33 | *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 34 | *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 35 | *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 36 | offset += sizeof(this->begin.sec); |
garyservin | 0:9e9b7db60fd5 | 37 | *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 38 | *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | offset += sizeof(this->begin.nsec); |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | offset += sizeof(this->end.sec); |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 49 | *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | offset += sizeof(this->end.nsec); |
garyservin | 0:9e9b7db60fd5 | 52 | return offset; |
garyservin | 0:9e9b7db60fd5 | 53 | } |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 56 | { |
garyservin | 0:9e9b7db60fd5 | 57 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 58 | this->begin.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 59 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 60 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 61 | this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 62 | offset += sizeof(this->begin.sec); |
garyservin | 0:9e9b7db60fd5 | 63 | this->begin.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 64 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 65 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 66 | this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->begin.nsec); |
garyservin | 0:9e9b7db60fd5 | 68 | this->end.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 69 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 70 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 71 | this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 72 | offset += sizeof(this->end.sec); |
garyservin | 0:9e9b7db60fd5 | 73 | this->end.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 74 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 75 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 76 | this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->end.nsec); |
garyservin | 0:9e9b7db60fd5 | 78 | return offset; |
garyservin | 0:9e9b7db60fd5 | 79 | } |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | const char * getType(){ return ASSEMBLESCANS; }; |
garyservin | 0:9e9b7db60fd5 | 82 | const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; }; |
garyservin | 0:9e9b7db60fd5 | 83 | |
garyservin | 0:9e9b7db60fd5 | 84 | }; |
garyservin | 0:9e9b7db60fd5 | 85 | |
garyservin | 0:9e9b7db60fd5 | 86 | class AssembleScansResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 87 | { |
garyservin | 0:9e9b7db60fd5 | 88 | public: |
garyservin | 0:9e9b7db60fd5 | 89 | typedef sensor_msgs::PointCloud _cloud_type; |
garyservin | 0:9e9b7db60fd5 | 90 | _cloud_type cloud; |
garyservin | 0:9e9b7db60fd5 | 91 | |
garyservin | 0:9e9b7db60fd5 | 92 | AssembleScansResponse(): |
garyservin | 0:9e9b7db60fd5 | 93 | cloud() |
garyservin | 0:9e9b7db60fd5 | 94 | { |
garyservin | 0:9e9b7db60fd5 | 95 | } |
garyservin | 0:9e9b7db60fd5 | 96 | |
garyservin | 0:9e9b7db60fd5 | 97 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 98 | { |
garyservin | 0:9e9b7db60fd5 | 99 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 100 | offset += this->cloud.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 101 | return offset; |
garyservin | 0:9e9b7db60fd5 | 102 | } |
garyservin | 0:9e9b7db60fd5 | 103 | |
garyservin | 0:9e9b7db60fd5 | 104 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 105 | { |
garyservin | 0:9e9b7db60fd5 | 106 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 107 | offset += this->cloud.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 108 | return offset; |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | |
garyservin | 0:9e9b7db60fd5 | 111 | const char * getType(){ return ASSEMBLESCANS; }; |
garyservin | 0:9e9b7db60fd5 | 112 | const char * getMD5(){ return "4217b28a903e4ad7869a83b3653110ff"; }; |
garyservin | 0:9e9b7db60fd5 | 113 | |
garyservin | 0:9e9b7db60fd5 | 114 | }; |
garyservin | 0:9e9b7db60fd5 | 115 | |
garyservin | 0:9e9b7db60fd5 | 116 | class AssembleScans { |
garyservin | 0:9e9b7db60fd5 | 117 | public: |
garyservin | 0:9e9b7db60fd5 | 118 | typedef AssembleScansRequest Request; |
garyservin | 0:9e9b7db60fd5 | 119 | typedef AssembleScansResponse Response; |
garyservin | 0:9e9b7db60fd5 | 120 | }; |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | #endif |