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

nav_msgs/GridCells.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?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_nav_msgs_GridCells_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_GridCells_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/Point.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class GridCells : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef float _cell_width_type;
garyservin 0:9e9b7db60fd5 20 _cell_width_type cell_width;
garyservin 0:9e9b7db60fd5 21 typedef float _cell_height_type;
garyservin 0:9e9b7db60fd5 22 _cell_height_type cell_height;
garyservin 0:9e9b7db60fd5 23 uint32_t cells_length;
garyservin 0:9e9b7db60fd5 24 typedef geometry_msgs::Point _cells_type;
garyservin 0:9e9b7db60fd5 25 _cells_type st_cells;
garyservin 0:9e9b7db60fd5 26 _cells_type * cells;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 GridCells():
garyservin 0:9e9b7db60fd5 29 header(),
garyservin 0:9e9b7db60fd5 30 cell_width(0),
garyservin 0:9e9b7db60fd5 31 cell_height(0),
garyservin 0:9e9b7db60fd5 32 cells_length(0), cells(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 union {
garyservin 0:9e9b7db60fd5 41 float real;
garyservin 0:9e9b7db60fd5 42 uint32_t base;
garyservin 0:9e9b7db60fd5 43 } u_cell_width;
garyservin 0:9e9b7db60fd5 44 u_cell_width.real = this->cell_width;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->cell_width);
garyservin 0:9e9b7db60fd5 50 union {
garyservin 0:9e9b7db60fd5 51 float real;
garyservin 0:9e9b7db60fd5 52 uint32_t base;
garyservin 0:9e9b7db60fd5 53 } u_cell_height;
garyservin 0:9e9b7db60fd5 54 u_cell_height.real = this->cell_height;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->cell_height);
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->cells_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < cells_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->cells[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 return offset;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 int offset = 0;
garyservin 0:9e9b7db60fd5 74 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 float real;
garyservin 0:9e9b7db60fd5 77 uint32_t base;
garyservin 0:9e9b7db60fd5 78 } u_cell_width;
garyservin 0:9e9b7db60fd5 79 u_cell_width.base = 0;
garyservin 0:9e9b7db60fd5 80 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 81 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 82 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 83 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 84 this->cell_width = u_cell_width.real;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->cell_width);
garyservin 0:9e9b7db60fd5 86 union {
garyservin 0:9e9b7db60fd5 87 float real;
garyservin 0:9e9b7db60fd5 88 uint32_t base;
garyservin 0:9e9b7db60fd5 89 } u_cell_height;
garyservin 0:9e9b7db60fd5 90 u_cell_height.base = 0;
garyservin 0:9e9b7db60fd5 91 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 92 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 93 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 94 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 95 this->cell_height = u_cell_height.real;
garyservin 0:9e9b7db60fd5 96 offset += sizeof(this->cell_height);
garyservin 0:9e9b7db60fd5 97 uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 98 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 99 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 100 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->cells_length);
garyservin 0:9e9b7db60fd5 102 if(cells_lengthT > cells_length)
garyservin 0:9e9b7db60fd5 103 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 104 cells_length = cells_lengthT;
garyservin 0:9e9b7db60fd5 105 for( uint32_t i = 0; i < cells_length; i++){
garyservin 0:9e9b7db60fd5 106 offset += this->st_cells.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 107 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 return offset;
garyservin 0:9e9b7db60fd5 110 }
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 const char * getType(){ return "nav_msgs/GridCells"; };
garyservin 0:9e9b7db60fd5 113 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
garyservin 0:9e9b7db60fd5 114
garyservin 0:9e9b7db60fd5 115 };
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 #endif