Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: control_msgs/PidState.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/PidState.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,420 @@ +#ifndef _ROS_control_msgs_PidState_h +#define _ROS_control_msgs_PidState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "ros/duration.h" + +namespace control_msgs +{ + + class PidState : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef ros::Duration _timestep_type; + _timestep_type timestep; + typedef double _error_type; + _error_type error; + typedef double _error_dot_type; + _error_dot_type error_dot; + typedef double _p_error_type; + _p_error_type p_error; + typedef double _i_error_type; + _i_error_type i_error; + typedef double _d_error_type; + _d_error_type d_error; + typedef double _p_term_type; + _p_term_type p_term; + typedef double _i_term_type; + _i_term_type i_term; + typedef double _d_term_type; + _d_term_type d_term; + typedef double _i_max_type; + _i_max_type i_max; + typedef double _i_min_type; + _i_min_type i_min; + typedef double _output_type; + _output_type output; + + PidState(): + header(), + timestep(), + error(0), + error_dot(0), + p_error(0), + i_error(0), + d_error(0), + p_term(0), + i_term(0), + d_term(0), + i_max(0), + i_min(0), + output(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timestep.sec); + *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timestep.nsec); + union { + double real; + uint64_t base; + } u_error; + u_error.real = this->error; + *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->error); + union { + double real; + uint64_t base; + } u_error_dot; + u_error_dot.real = this->error_dot; + *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->error_dot); + union { + double real; + uint64_t base; + } u_p_error; + u_p_error.real = this->p_error; + *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->p_error); + union { + double real; + uint64_t base; + } u_i_error; + u_i_error.real = this->i_error; + *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_error); + union { + double real; + uint64_t base; + } u_d_error; + u_d_error.real = this->d_error; + *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->d_error); + union { + double real; + uint64_t base; + } u_p_term; + u_p_term.real = this->p_term; + *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->p_term); + union { + double real; + uint64_t base; + } u_i_term; + u_i_term.real = this->i_term; + *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_term); + union { + double real; + uint64_t base; + } u_d_term; + u_d_term.real = this->d_term; + *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->d_term); + union { + double real; + uint64_t base; + } u_i_max; + u_i_max.real = this->i_max; + *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_max); + union { + double real; + uint64_t base; + } u_i_min; + u_i_min.real = this->i_min; + *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_min); + union { + double real; + uint64_t base; + } u_output; + u_output.real = this->output; + *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->output); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + this->timestep.sec = ((uint32_t) (*(inbuffer + offset))); + this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timestep.sec); + this->timestep.nsec = ((uint32_t) (*(inbuffer + offset))); + this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timestep.nsec); + union { + double real; + uint64_t base; + } u_error; + u_error.base = 0; + u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->error = u_error.real; + offset += sizeof(this->error); + union { + double real; + uint64_t base; + } u_error_dot; + u_error_dot.base = 0; + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->error_dot = u_error_dot.real; + offset += sizeof(this->error_dot); + union { + double real; + uint64_t base; + } u_p_error; + u_p_error.base = 0; + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->p_error = u_p_error.real; + offset += sizeof(this->p_error); + union { + double real; + uint64_t base; + } u_i_error; + u_i_error.base = 0; + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_error = u_i_error.real; + offset += sizeof(this->i_error); + union { + double real; + uint64_t base; + } u_d_error; + u_d_error.base = 0; + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->d_error = u_d_error.real; + offset += sizeof(this->d_error); + union { + double real; + uint64_t base; + } u_p_term; + u_p_term.base = 0; + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->p_term = u_p_term.real; + offset += sizeof(this->p_term); + union { + double real; + uint64_t base; + } u_i_term; + u_i_term.base = 0; + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_term = u_i_term.real; + offset += sizeof(this->i_term); + union { + double real; + uint64_t base; + } u_d_term; + u_d_term.base = 0; + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->d_term = u_d_term.real; + offset += sizeof(this->d_term); + union { + double real; + uint64_t base; + } u_i_max; + u_i_max.base = 0; + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_max = u_i_max.real; + offset += sizeof(this->i_max); + union { + double real; + uint64_t base; + } u_i_min; + u_i_min.base = 0; + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_min = u_i_min.real; + offset += sizeof(this->i_min); + union { + double real; + uint64_t base; + } u_output; + u_output.base = 0; + u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->output = u_output.real; + offset += sizeof(this->output); + return offset; + } + + const char * getType(){ return "control_msgs/PidState"; }; + const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; }; + + }; + +} +#endif \ No newline at end of file