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

shape_msgs/Plane.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_shape_msgs_Plane_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_shape_msgs_Plane_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
garyservin 0:9e9b7db60fd5 9 namespace shape_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Plane : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 double coef[4];
garyservin 0:9e9b7db60fd5 16
garyservin 0:9e9b7db60fd5 17 Plane():
garyservin 0:9e9b7db60fd5 18 coef()
garyservin 0:9e9b7db60fd5 19 {
garyservin 0:9e9b7db60fd5 20 }
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 int offset = 0;
garyservin 0:9e9b7db60fd5 25 for( uint32_t i = 0; i < 4; i++){
garyservin 0:9e9b7db60fd5 26 union {
garyservin 0:9e9b7db60fd5 27 double real;
garyservin 0:9e9b7db60fd5 28 uint64_t base;
garyservin 0:9e9b7db60fd5 29 } u_coefi;
garyservin 0:9e9b7db60fd5 30 u_coefi.real = this->coef[i];
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 0) = (u_coefi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 *(outbuffer + offset + 1) = (u_coefi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 2) = (u_coefi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 3) = (u_coefi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 4) = (u_coefi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 5) = (u_coefi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 6) = (u_coefi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 7) = (u_coefi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->coef[i]);
garyservin 0:9e9b7db60fd5 40 }
garyservin 0:9e9b7db60fd5 41 return offset;
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 for( uint32_t i = 0; i < 4; i++){
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 double real;
garyservin 0:9e9b7db60fd5 50 uint64_t base;
garyservin 0:9e9b7db60fd5 51 } u_coefi;
garyservin 0:9e9b7db60fd5 52 u_coefi.base = 0;
garyservin 0:9e9b7db60fd5 53 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 54 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 55 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 56 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 57 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 58 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 59 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 60 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 61 this->coef[i] = u_coefi.real;
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->coef[i]);
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64 return offset;
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 const char * getType(){ return "shape_msgs/Plane"; };
garyservin 0:9e9b7db60fd5 68 const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 };
garyservin 0:9e9b7db60fd5 71
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 #endif