Fork of ROS Serial Library
Dependencies: BufferedSerial
control_msgs/JointTolerance.h
- Committer:
- jdawkins
- Date:
- 2019-09-12
- Revision:
- 2:e75264f7cf89
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:e75264f7cf89:
#ifndef _ROS_control_msgs_JointTolerance_h #define _ROS_control_msgs_JointTolerance_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace control_msgs { class JointTolerance : public ros::Msg { public: typedef const char* _name_type; _name_type name; typedef double _position_type; _position_type position; typedef double _velocity_type; _velocity_type velocity; typedef double _acceleration_type; _acceleration_type acceleration; JointTolerance(): name(""), position(0), velocity(0), acceleration(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; union { double real; uint64_t base; } u_position; u_position.real = this->position; *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF; offset += sizeof(this->position); union { double real; uint64_t base; } u_velocity; u_velocity.real = this->velocity; *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF; offset += sizeof(this->velocity); union { double real; uint64_t base; } u_acceleration; u_acceleration.real = this->acceleration; *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF; offset += sizeof(this->acceleration); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; union { double real; uint64_t base; } u_position; u_position.base = 0; u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->position = u_position.real; offset += sizeof(this->position); union { double real; uint64_t base; } u_velocity; u_velocity.base = 0; u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->velocity = u_velocity.real; offset += sizeof(this->velocity); union { double real; uint64_t base; } u_acceleration; u_acceleration.base = 0; u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->acceleration = u_acceleration.real; offset += sizeof(this->acceleration); return offset; } const char * getType(){ return "control_msgs/JointTolerance"; }; const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; }; }; } #endif