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

polled_camera/GetPolledImage.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_SERVICE_GetPolledImage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetPolledImage_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 "sensor_msgs/RegionOfInterest.h"
garyservin 0:9e9b7db60fd5 8 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 9 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace polled_camera
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage";
garyservin 0:9e9b7db60fd5 15
garyservin 0:9e9b7db60fd5 16 class GetPolledImageRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 17 {
garyservin 0:9e9b7db60fd5 18 public:
garyservin 0:9e9b7db60fd5 19 typedef const char* _response_namespace_type;
garyservin 0:9e9b7db60fd5 20 _response_namespace_type response_namespace;
garyservin 0:9e9b7db60fd5 21 typedef ros::Duration _timeout_type;
garyservin 0:9e9b7db60fd5 22 _timeout_type timeout;
garyservin 0:9e9b7db60fd5 23 typedef uint32_t _binning_x_type;
garyservin 0:9e9b7db60fd5 24 _binning_x_type binning_x;
garyservin 0:9e9b7db60fd5 25 typedef uint32_t _binning_y_type;
garyservin 0:9e9b7db60fd5 26 _binning_y_type binning_y;
garyservin 0:9e9b7db60fd5 27 typedef sensor_msgs::RegionOfInterest _roi_type;
garyservin 0:9e9b7db60fd5 28 _roi_type roi;
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 GetPolledImageRequest():
garyservin 0:9e9b7db60fd5 31 response_namespace(""),
garyservin 0:9e9b7db60fd5 32 timeout(),
garyservin 0:9e9b7db60fd5 33 binning_x(0),
garyservin 0:9e9b7db60fd5 34 binning_y(0),
garyservin 0:9e9b7db60fd5 35 roi()
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 uint32_t length_response_namespace = strlen(this->response_namespace);
garyservin 0:9e9b7db60fd5 43 varToArr(outbuffer + offset, length_response_namespace);
garyservin 0:9e9b7db60fd5 44 offset += 4;
garyservin 0:9e9b7db60fd5 45 memcpy(outbuffer + offset, this->response_namespace, length_response_namespace);
garyservin 0:9e9b7db60fd5 46 offset += length_response_namespace;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->timeout.sec);
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->timeout.nsec);
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->binning_x);
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->binning_y);
garyservin 0:9e9b7db60fd5 67 offset += this->roi.serialize(outbuffer + offset);
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 uint32_t length_response_namespace;
garyservin 0:9e9b7db60fd5 75 arrToVar(length_response_namespace, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 76 offset += 4;
garyservin 0:9e9b7db60fd5 77 for(unsigned int k= offset; k< offset+length_response_namespace; ++k){
garyservin 0:9e9b7db60fd5 78 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80 inbuffer[offset+length_response_namespace-1]=0;
garyservin 0:9e9b7db60fd5 81 this->response_namespace = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 82 offset += length_response_namespace;
garyservin 0:9e9b7db60fd5 83 this->timeout.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 84 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 85 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 86 this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->timeout.sec);
garyservin 0:9e9b7db60fd5 88 this->timeout.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 89 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 90 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 91 this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->timeout.nsec);
garyservin 0:9e9b7db60fd5 93 this->binning_x = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 94 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 95 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 96 this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->binning_x);
garyservin 0:9e9b7db60fd5 98 this->binning_y = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 99 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 100 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 101 this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->binning_y);
garyservin 0:9e9b7db60fd5 103 offset += this->roi.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 104 return offset;
garyservin 0:9e9b7db60fd5 105 }
garyservin 0:9e9b7db60fd5 106
garyservin 0:9e9b7db60fd5 107 const char * getType(){ return GETPOLLEDIMAGE; };
garyservin 0:9e9b7db60fd5 108 const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; };
garyservin 0:9e9b7db60fd5 109
garyservin 0:9e9b7db60fd5 110 };
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 class GetPolledImageResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 113 {
garyservin 0:9e9b7db60fd5 114 public:
garyservin 0:9e9b7db60fd5 115 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 116 _success_type success;
garyservin 0:9e9b7db60fd5 117 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 118 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 119 typedef ros::Time _stamp_type;
garyservin 0:9e9b7db60fd5 120 _stamp_type stamp;
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 GetPolledImageResponse():
garyservin 0:9e9b7db60fd5 123 success(0),
garyservin 0:9e9b7db60fd5 124 status_message(""),
garyservin 0:9e9b7db60fd5 125 stamp()
garyservin 0:9e9b7db60fd5 126 {
garyservin 0:9e9b7db60fd5 127 }
garyservin 0:9e9b7db60fd5 128
garyservin 0:9e9b7db60fd5 129 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 130 {
garyservin 0:9e9b7db60fd5 131 int offset = 0;
garyservin 0:9e9b7db60fd5 132 union {
garyservin 0:9e9b7db60fd5 133 bool real;
garyservin 0:9e9b7db60fd5 134 uint8_t base;
garyservin 0:9e9b7db60fd5 135 } u_success;
garyservin 0:9e9b7db60fd5 136 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 139 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 140 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 141 offset += 4;
garyservin 0:9e9b7db60fd5 142 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 143 offset += length_status_message;
garyservin 0:9e9b7db60fd5 144 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 145 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 146 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 offset += sizeof(this->stamp.sec);
garyservin 0:9e9b7db60fd5 149 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 offset += sizeof(this->stamp.nsec);
garyservin 0:9e9b7db60fd5 154 return offset;
garyservin 0:9e9b7db60fd5 155 }
garyservin 0:9e9b7db60fd5 156
garyservin 0:9e9b7db60fd5 157 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 158 {
garyservin 0:9e9b7db60fd5 159 int offset = 0;
garyservin 0:9e9b7db60fd5 160 union {
garyservin 0:9e9b7db60fd5 161 bool real;
garyservin 0:9e9b7db60fd5 162 uint8_t base;
garyservin 0:9e9b7db60fd5 163 } u_success;
garyservin 0:9e9b7db60fd5 164 u_success.base = 0;
garyservin 0:9e9b7db60fd5 165 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 166 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 167 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 168 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 169 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 170 offset += 4;
garyservin 0:9e9b7db60fd5 171 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 172 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 173 }
garyservin 0:9e9b7db60fd5 174 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 175 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 176 offset += length_status_message;
garyservin 0:9e9b7db60fd5 177 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 178 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 179 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 180 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 181 offset += sizeof(this->stamp.sec);
garyservin 0:9e9b7db60fd5 182 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 183 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 184 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 185 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 186 offset += sizeof(this->stamp.nsec);
garyservin 0:9e9b7db60fd5 187 return offset;
garyservin 0:9e9b7db60fd5 188 }
garyservin 0:9e9b7db60fd5 189
garyservin 0:9e9b7db60fd5 190 const char * getType(){ return GETPOLLEDIMAGE; };
garyservin 0:9e9b7db60fd5 191 const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; };
garyservin 0:9e9b7db60fd5 192
garyservin 0:9e9b7db60fd5 193 };
garyservin 0:9e9b7db60fd5 194
garyservin 0:9e9b7db60fd5 195 class GetPolledImage {
garyservin 0:9e9b7db60fd5 196 public:
garyservin 0:9e9b7db60fd5 197 typedef GetPolledImageRequest Request;
garyservin 0:9e9b7db60fd5 198 typedef GetPolledImageResponse Response;
garyservin 0:9e9b7db60fd5 199 };
garyservin 0:9e9b7db60fd5 200
garyservin 0:9e9b7db60fd5 201 }
garyservin 0:9e9b7db60fd5 202 #endif