Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

rosserial_arduino/Adc.h@1:da82487f547e, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:55:04 2019 -0300
Revision:
1:da82487f547e
Parent:
0:04ac6be8229a 
Add missing round() method

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_rosserial_arduino_Adc_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_rosserial_arduino_Adc_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace rosserial_arduino
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class Adc : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef uint16_t _adc0_type;
Gary Servin 0:04ac6be8229a 16 _adc0_type adc0;
Gary Servin 0:04ac6be8229a 17 typedef uint16_t _adc1_type;
Gary Servin 0:04ac6be8229a 18 _adc1_type adc1;
Gary Servin 0:04ac6be8229a 19 typedef uint16_t _adc2_type;
Gary Servin 0:04ac6be8229a 20 _adc2_type adc2;
Gary Servin 0:04ac6be8229a 21 typedef uint16_t _adc3_type;
Gary Servin 0:04ac6be8229a 22 _adc3_type adc3;
Gary Servin 0:04ac6be8229a 23 typedef uint16_t _adc4_type;
Gary Servin 0:04ac6be8229a 24 _adc4_type adc4;
Gary Servin 0:04ac6be8229a 25 typedef uint16_t _adc5_type;
Gary Servin 0:04ac6be8229a 26 _adc5_type adc5;
Gary Servin 0:04ac6be8229a 27
Gary Servin 0:04ac6be8229a 28 Adc():
Gary Servin 0:04ac6be8229a 29 adc0(0),
Gary Servin 0:04ac6be8229a 30 adc1(0),
Gary Servin 0:04ac6be8229a 31 adc2(0),
Gary Servin 0:04ac6be8229a 32 adc3(0),
Gary Servin 0:04ac6be8229a 33 adc4(0),
Gary Servin 0:04ac6be8229a 34 adc5(0)
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 int offset = 0;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 offset += sizeof(this->adc0);
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 offset += sizeof(this->adc1);
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 offset += sizeof(this->adc2);
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->adc3);
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->adc4);
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 offset += sizeof(this->adc5);
Gary Servin 0:04ac6be8229a 59 return offset;
Gary Servin 0:04ac6be8229a 60 }
Gary Servin 0:04ac6be8229a 61
Gary Servin 0:04ac6be8229a 62 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 63 {
Gary Servin 0:04ac6be8229a 64 int offset = 0;
Gary Servin 0:04ac6be8229a 65 this->adc0 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 66 this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->adc0);
Gary Servin 0:04ac6be8229a 68 this->adc1 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 69 this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->adc1);
Gary Servin 0:04ac6be8229a 71 this->adc2 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 72 this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->adc2);
Gary Servin 0:04ac6be8229a 74 this->adc3 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 75 this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->adc3);
Gary Servin 0:04ac6be8229a 77 this->adc4 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 78 this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 79 offset += sizeof(this->adc4);
Gary Servin 0:04ac6be8229a 80 this->adc5 = ((uint16_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 81 this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 82 offset += sizeof(this->adc5);
Gary Servin 0:04ac6be8229a 83 return offset;
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85
Gary Servin 0:04ac6be8229a 86 const char * getType(){ return "rosserial_arduino/Adc"; };
Gary Servin 0:04ac6be8229a 87 const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
Gary Servin 0:04ac6be8229a 88
Gary Servin 0:04ac6be8229a 89 };
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92 #endif