Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: control_msgs/PointHeadGoal.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/PointHeadGoal.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,123 @@ +#ifndef _ROS_control_msgs_PointHeadGoal_h +#define _ROS_control_msgs_PointHeadGoal_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "geometry_msgs/PointStamped.h" +#include "geometry_msgs/Vector3.h" +#include "ros/duration.h" + +namespace control_msgs +{ + + class PointHeadGoal : public ros::Msg + { + public: + typedef geometry_msgs::PointStamped _target_type; + _target_type target; + typedef geometry_msgs::Vector3 _pointing_axis_type; + _pointing_axis_type pointing_axis; + typedef const char* _pointing_frame_type; + _pointing_frame_type pointing_frame; + typedef ros::Duration _min_duration_type; + _min_duration_type min_duration; + typedef double _max_velocity_type; + _max_velocity_type max_velocity; + + PointHeadGoal(): + target(), + pointing_axis(), + pointing_frame(""), + min_duration(), + max_velocity(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->target.serialize(outbuffer + offset); + offset += this->pointing_axis.serialize(outbuffer + offset); + uint32_t length_pointing_frame = strlen(this->pointing_frame); + varToArr(outbuffer + offset, length_pointing_frame); + offset += 4; + memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame); + offset += length_pointing_frame; + *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->min_duration.sec); + *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->min_duration.nsec); + union { + double real; + uint64_t base; + } u_max_velocity; + u_max_velocity.real = this->max_velocity; + *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->max_velocity); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->target.deserialize(inbuffer + offset); + offset += this->pointing_axis.deserialize(inbuffer + offset); + uint32_t length_pointing_frame; + arrToVar(length_pointing_frame, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_pointing_frame-1]=0; + this->pointing_frame = (char *)(inbuffer + offset-1); + offset += length_pointing_frame; + this->min_duration.sec = ((uint32_t) (*(inbuffer + offset))); + this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->min_duration.sec); + this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset))); + this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->min_duration.nsec); + union { + double real; + uint64_t base; + } u_max_velocity; + u_max_velocity.base = 0; + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->max_velocity = u_max_velocity.real; + offset += sizeof(this->max_velocity); + return offset; + } + + const char * getType(){ return "control_msgs/PointHeadGoal"; }; + const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; }; + + }; + +} +#endif \ No newline at end of file