Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/GripperCommandResult.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_control_msgs_GripperCommandResult_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_GripperCommandResult_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8
scarter1 0:020db18a476d 9 namespace control_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class GripperCommandResult : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef double _position_type;
scarter1 0:020db18a476d 16 _position_type position;
scarter1 0:020db18a476d 17 typedef double _effort_type;
scarter1 0:020db18a476d 18 _effort_type effort;
scarter1 0:020db18a476d 19 typedef bool _stalled_type;
scarter1 0:020db18a476d 20 _stalled_type stalled;
scarter1 0:020db18a476d 21 typedef bool _reached_goal_type;
scarter1 0:020db18a476d 22 _reached_goal_type reached_goal;
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 GripperCommandResult():
scarter1 0:020db18a476d 25 position(0),
scarter1 0:020db18a476d 26 effort(0),
scarter1 0:020db18a476d 27 stalled(0),
scarter1 0:020db18a476d 28 reached_goal(0)
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 }
scarter1 0:020db18a476d 31
scarter1 0:020db18a476d 32 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 33 {
scarter1 0:020db18a476d 34 int offset = 0;
scarter1 0:020db18a476d 35 union {
scarter1 0:020db18a476d 36 double real;
scarter1 0:020db18a476d 37 uint64_t base;
scarter1 0:020db18a476d 38 } u_position;
scarter1 0:020db18a476d 39 u_position.real = this->position;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 48 offset += sizeof(this->position);
scarter1 0:020db18a476d 49 union {
scarter1 0:020db18a476d 50 double real;
scarter1 0:020db18a476d 51 uint64_t base;
scarter1 0:020db18a476d 52 } u_effort;
scarter1 0:020db18a476d 53 u_effort.real = this->effort;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 56 *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 57 *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 62 offset += sizeof(this->effort);
scarter1 0:020db18a476d 63 union {
scarter1 0:020db18a476d 64 bool real;
scarter1 0:020db18a476d 65 uint8_t base;
scarter1 0:020db18a476d 66 } u_stalled;
scarter1 0:020db18a476d 67 u_stalled.real = this->stalled;
scarter1 0:020db18a476d 68 *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 69 offset += sizeof(this->stalled);
scarter1 0:020db18a476d 70 union {
scarter1 0:020db18a476d 71 bool real;
scarter1 0:020db18a476d 72 uint8_t base;
scarter1 0:020db18a476d 73 } u_reached_goal;
scarter1 0:020db18a476d 74 u_reached_goal.real = this->reached_goal;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 76 offset += sizeof(this->reached_goal);
scarter1 0:020db18a476d 77 return offset;
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 81 {
scarter1 0:020db18a476d 82 int offset = 0;
scarter1 0:020db18a476d 83 union {
scarter1 0:020db18a476d 84 double real;
scarter1 0:020db18a476d 85 uint64_t base;
scarter1 0:020db18a476d 86 } u_position;
scarter1 0:020db18a476d 87 u_position.base = 0;
scarter1 0:020db18a476d 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 90 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 96 this->position = u_position.real;
scarter1 0:020db18a476d 97 offset += sizeof(this->position);
scarter1 0:020db18a476d 98 union {
scarter1 0:020db18a476d 99 double real;
scarter1 0:020db18a476d 100 uint64_t base;
scarter1 0:020db18a476d 101 } u_effort;
scarter1 0:020db18a476d 102 u_effort.base = 0;
scarter1 0:020db18a476d 103 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 104 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 105 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 106 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 107 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 108 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 109 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 110 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 111 this->effort = u_effort.real;
scarter1 0:020db18a476d 112 offset += sizeof(this->effort);
scarter1 0:020db18a476d 113 union {
scarter1 0:020db18a476d 114 bool real;
scarter1 0:020db18a476d 115 uint8_t base;
scarter1 0:020db18a476d 116 } u_stalled;
scarter1 0:020db18a476d 117 u_stalled.base = 0;
scarter1 0:020db18a476d 118 u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 119 this->stalled = u_stalled.real;
scarter1 0:020db18a476d 120 offset += sizeof(this->stalled);
scarter1 0:020db18a476d 121 union {
scarter1 0:020db18a476d 122 bool real;
scarter1 0:020db18a476d 123 uint8_t base;
scarter1 0:020db18a476d 124 } u_reached_goal;
scarter1 0:020db18a476d 125 u_reached_goal.base = 0;
scarter1 0:020db18a476d 126 u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 127 this->reached_goal = u_reached_goal.real;
scarter1 0:020db18a476d 128 offset += sizeof(this->reached_goal);
scarter1 0:020db18a476d 129 return offset;
scarter1 0:020db18a476d 130 }
scarter1 0:020db18a476d 131
scarter1 0:020db18a476d 132 const char * getType(){ return "control_msgs/GripperCommandResult"; };
scarter1 0:020db18a476d 133 const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
scarter1 0:020db18a476d 134
scarter1 0:020db18a476d 135 };
scarter1 0:020db18a476d 136
scarter1 0:020db18a476d 137 }
scarter1 0:020db18a476d 138 #endif