Diff: pr2_mechanism_msgs/ActuatorStatistics.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pr2_mechanism_msgs/ActuatorStatistics.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,283 @@
+#ifndef _ROS_pr2_mechanism_msgs_ActuatorStatistics_h
+#define _ROS_pr2_mechanism_msgs_ActuatorStatistics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace pr2_mechanism_msgs
+{
+
+  class ActuatorStatistics : public ros::Msg
+  {
+    public:
+      const char* name;
+      int32_t device_id;
+      ros::Time timestamp;
+      int32_t encoder_count;
+      float encoder_offset;
+      float position;
+      float encoder_velocity;
+      float velocity;
+      bool calibration_reading;
+      bool calibration_rising_edge_valid;
+      bool calibration_falling_edge_valid;
+      float last_calibration_rising_edge;
+      float last_calibration_falling_edge;
+      bool is_enabled;
+      bool halted;
+      float last_commanded_current;
+      float last_commanded_effort;
+      float last_executed_current;
+      float last_executed_effort;
+      float last_measured_current;
+      float last_measured_effort;
+      float motor_voltage;
+      int32_t num_encoder_errors;
+
+    ActuatorStatistics():
+      name(""),
+      device_id(0),
+      timestamp(),
+      encoder_count(0),
+      encoder_offset(0),
+      position(0),
+      encoder_velocity(0),
+      velocity(0),
+      calibration_reading(0),
+      calibration_rising_edge_valid(0),
+      calibration_falling_edge_valid(0),
+      last_calibration_rising_edge(0),
+      last_calibration_falling_edge(0),
+      is_enabled(0),
+      halted(0),
+      last_commanded_current(0),
+      last_commanded_effort(0),
+      last_executed_current(0),
+      last_executed_effort(0),
+      last_measured_current(0),
+      last_measured_effort(0),
+      motor_voltage(0),
+      num_encoder_errors(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_device_id;
+      u_device_id.real = this->device_id;
+      *(outbuffer + offset + 0) = (u_device_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_device_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_device_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_device_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->device_id);
+      *(outbuffer + offset + 0) = (this->timestamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestamp.sec);
+      *(outbuffer + offset + 0) = (this->timestamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestamp.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_count;
+      u_encoder_count.real = this->encoder_count;
+      *(outbuffer + offset + 0) = (u_encoder_count.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_count.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_count.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_count.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_count);
+      offset += serializeAvrFloat64(outbuffer + offset, this->encoder_offset);
+      offset += serializeAvrFloat64(outbuffer + offset, this->position);
+      offset += serializeAvrFloat64(outbuffer + offset, this->encoder_velocity);
+      offset += serializeAvrFloat64(outbuffer + offset, this->velocity);
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_reading;
+      u_calibration_reading.real = this->calibration_reading;
+      *(outbuffer + offset + 0) = (u_calibration_reading.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->calibration_reading);
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_rising_edge_valid;
+      u_calibration_rising_edge_valid.real = this->calibration_rising_edge_valid;
+      *(outbuffer + offset + 0) = (u_calibration_rising_edge_valid.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->calibration_rising_edge_valid);
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_falling_edge_valid;
+      u_calibration_falling_edge_valid.real = this->calibration_falling_edge_valid;
+      *(outbuffer + offset + 0) = (u_calibration_falling_edge_valid.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->calibration_falling_edge_valid);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_calibration_rising_edge);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_calibration_falling_edge);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_enabled;
+      u_is_enabled.real = this->is_enabled;
+      *(outbuffer + offset + 0) = (u_is_enabled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_halted;
+      u_halted.real = this->halted;
+      *(outbuffer + offset + 0) = (u_halted.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->halted);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_commanded_current);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_commanded_effort);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_executed_current);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_executed_effort);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_measured_current);
+      offset += serializeAvrFloat64(outbuffer + offset, this->last_measured_effort);
+      offset += serializeAvrFloat64(outbuffer + offset, this->motor_voltage);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_encoder_errors;
+      u_num_encoder_errors.real = this->num_encoder_errors;
+      *(outbuffer + offset + 0) = (u_num_encoder_errors.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_num_encoder_errors.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_num_encoder_errors.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_num_encoder_errors.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->num_encoder_errors);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      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 {
+        int32_t real;
+        uint32_t base;
+      } u_device_id;
+      u_device_id.base = 0;
+      u_device_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_device_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_device_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_device_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->device_id = u_device_id.real;
+      offset += sizeof(this->device_id);
+      this->timestamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestamp.sec);
+      this->timestamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestamp.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_count;
+      u_encoder_count.base = 0;
+      u_encoder_count.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_count.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_count.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_count.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_count = u_encoder_count.real;
+      offset += sizeof(this->encoder_count);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->encoder_offset));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->position));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->encoder_velocity));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->velocity));
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_reading;
+      u_calibration_reading.base = 0;
+      u_calibration_reading.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->calibration_reading = u_calibration_reading.real;
+      offset += sizeof(this->calibration_reading);
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_rising_edge_valid;
+      u_calibration_rising_edge_valid.base = 0;
+      u_calibration_rising_edge_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->calibration_rising_edge_valid = u_calibration_rising_edge_valid.real;
+      offset += sizeof(this->calibration_rising_edge_valid);
+      union {
+        bool real;
+        uint8_t base;
+      } u_calibration_falling_edge_valid;
+      u_calibration_falling_edge_valid.base = 0;
+      u_calibration_falling_edge_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->calibration_falling_edge_valid = u_calibration_falling_edge_valid.real;
+      offset += sizeof(this->calibration_falling_edge_valid);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_calibration_rising_edge));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_calibration_falling_edge));
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_enabled;
+      u_is_enabled.base = 0;
+      u_is_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_enabled = u_is_enabled.real;
+      offset += sizeof(this->is_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_halted;
+      u_halted.base = 0;
+      u_halted.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->halted = u_halted.real;
+      offset += sizeof(this->halted);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_commanded_current));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_commanded_effort));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_executed_current));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_executed_effort));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_measured_current));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->last_measured_effort));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->motor_voltage));
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_encoder_errors;
+      u_num_encoder_errors.base = 0;
+      u_num_encoder_errors.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_num_encoder_errors.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_num_encoder_errors.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_num_encoder_errors.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->num_encoder_errors = u_num_encoder_errors.real;
+      offset += sizeof(this->num_encoder_errors);
+     return offset;
+    }
+
+    const char * getType(){ return "pr2_mechanism_msgs/ActuatorStatistics"; };
+    const char * getMD5(){ return "c37184273b29627de29382f1d3670175"; };
+
+  };
+
+}
+#endif