Fork of ROS Serial Library
Dependencies: BufferedSerial
control_msgs/FollowJointTrajectoryResult.h@2:e75264f7cf89, 2019-09-12 (annotated)
- Committer:
- jdawkins
- Date:
- Thu Sep 12 13:39:04 2019 +0000
- Revision:
- 2:e75264f7cf89
- Parent:
- 0:9e9b7db60fd5
EW456
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_control_msgs_FollowJointTrajectoryResult_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 control_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class FollowJointTrajectoryResult : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | typedef int32_t _error_code_type; |
garyservin | 0:9e9b7db60fd5 | 16 | _error_code_type error_code; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef const char* _error_string_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _error_string_type error_string; |
garyservin | 0:9e9b7db60fd5 | 19 | enum { SUCCESSFUL = 0 }; |
garyservin | 0:9e9b7db60fd5 | 20 | enum { INVALID_GOAL = -1 }; |
garyservin | 0:9e9b7db60fd5 | 21 | enum { INVALID_JOINTS = -2 }; |
garyservin | 0:9e9b7db60fd5 | 22 | enum { OLD_HEADER_TIMESTAMP = -3 }; |
garyservin | 0:9e9b7db60fd5 | 23 | enum { PATH_TOLERANCE_VIOLATED = -4 }; |
garyservin | 0:9e9b7db60fd5 | 24 | enum { GOAL_TOLERANCE_VIOLATED = -5 }; |
garyservin | 0:9e9b7db60fd5 | 25 | |
garyservin | 0:9e9b7db60fd5 | 26 | FollowJointTrajectoryResult(): |
garyservin | 0:9e9b7db60fd5 | 27 | error_code(0), |
garyservin | 0:9e9b7db60fd5 | 28 | error_string("") |
garyservin | 0:9e9b7db60fd5 | 29 | { |
garyservin | 0:9e9b7db60fd5 | 30 | } |
garyservin | 0:9e9b7db60fd5 | 31 | |
garyservin | 0:9e9b7db60fd5 | 32 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 33 | { |
garyservin | 0:9e9b7db60fd5 | 34 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 35 | union { |
garyservin | 0:9e9b7db60fd5 | 36 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 37 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 38 | } u_error_code; |
garyservin | 0:9e9b7db60fd5 | 39 | u_error_code.real = this->error_code; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | offset += sizeof(this->error_code); |
garyservin | 0:9e9b7db60fd5 | 45 | uint32_t length_error_string = strlen(this->error_string); |
garyservin | 0:9e9b7db60fd5 | 46 | varToArr(outbuffer + offset, length_error_string); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 48 | memcpy(outbuffer + offset, this->error_string, length_error_string); |
garyservin | 0:9e9b7db60fd5 | 49 | offset += length_error_string; |
garyservin | 0:9e9b7db60fd5 | 50 | return offset; |
garyservin | 0:9e9b7db60fd5 | 51 | } |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 54 | { |
garyservin | 0:9e9b7db60fd5 | 55 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 56 | union { |
garyservin | 0:9e9b7db60fd5 | 57 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 58 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 59 | } u_error_code; |
garyservin | 0:9e9b7db60fd5 | 60 | u_error_code.base = 0; |
garyservin | 0:9e9b7db60fd5 | 61 | u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 62 | u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 63 | u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 64 | u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 65 | this->error_code = u_error_code.real; |
garyservin | 0:9e9b7db60fd5 | 66 | offset += sizeof(this->error_code); |
garyservin | 0:9e9b7db60fd5 | 67 | uint32_t length_error_string; |
garyservin | 0:9e9b7db60fd5 | 68 | arrToVar(length_error_string, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 69 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 70 | for(unsigned int k= offset; k< offset+length_error_string; ++k){ |
garyservin | 0:9e9b7db60fd5 | 71 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | inbuffer[offset+length_error_string-1]=0; |
garyservin | 0:9e9b7db60fd5 | 74 | this->error_string = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 75 | offset += length_error_string; |
garyservin | 0:9e9b7db60fd5 | 76 | return offset; |
garyservin | 0:9e9b7db60fd5 | 77 | } |
garyservin | 0:9e9b7db60fd5 | 78 | |
garyservin | 0:9e9b7db60fd5 | 79 | const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; }; |
garyservin | 0:9e9b7db60fd5 | 80 | const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; }; |
garyservin | 0:9e9b7db60fd5 | 81 | |
garyservin | 0:9e9b7db60fd5 | 82 | }; |
garyservin | 0:9e9b7db60fd5 | 83 | |
garyservin | 0:9e9b7db60fd5 | 84 | } |
garyservin | 0:9e9b7db60fd5 | 85 | #endif |