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

rospy_tutorials/HeaderString.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_rospy_tutorials_HeaderString_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_rospy_tutorials_HeaderString_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
garyservin 0:9e9b7db60fd5 10 namespace rospy_tutorials
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class HeaderString : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef const char* _data_type;
garyservin 0:9e9b7db60fd5 19 _data_type data;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 HeaderString():
garyservin 0:9e9b7db60fd5 22 header(),
garyservin 0:9e9b7db60fd5 23 data("")
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 31 uint32_t length_data = strlen(this->data);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_data);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->data, length_data);
garyservin 0:9e9b7db60fd5 35 offset += length_data;
garyservin 0:9e9b7db60fd5 36 return offset;
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 43 uint32_t length_data;
garyservin 0:9e9b7db60fd5 44 arrToVar(length_data, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 for(unsigned int k= offset; k< offset+length_data; ++k){
garyservin 0:9e9b7db60fd5 47 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49 inbuffer[offset+length_data-1]=0;
garyservin 0:9e9b7db60fd5 50 this->data = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 51 offset += length_data;
garyservin 0:9e9b7db60fd5 52 return offset;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 const char * getType(){ return "rospy_tutorials/HeaderString"; };
garyservin 0:9e9b7db60fd5 56 const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 };
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 #endif