rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
pr2_mechanism_msgs/JointStatistics.h@0:30537dec6e0b, 2015-02-15 (annotated)
- Committer:
- akashvibhute
- Date:
- Sun Feb 15 10:53:43 2015 +0000
- Revision:
- 0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_pr2_mechanism_msgs_JointStatistics_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_pr2_mechanism_msgs_JointStatistics_h |
akashvibhute | 0:30537dec6e0b | 3 | |
akashvibhute | 0:30537dec6e0b | 4 | #include <stdint.h> |
akashvibhute | 0:30537dec6e0b | 5 | #include <string.h> |
akashvibhute | 0:30537dec6e0b | 6 | #include <stdlib.h> |
akashvibhute | 0:30537dec6e0b | 7 | #include "ros/msg.h" |
akashvibhute | 0:30537dec6e0b | 8 | #include "ros/time.h" |
akashvibhute | 0:30537dec6e0b | 9 | |
akashvibhute | 0:30537dec6e0b | 10 | namespace pr2_mechanism_msgs |
akashvibhute | 0:30537dec6e0b | 11 | { |
akashvibhute | 0:30537dec6e0b | 12 | |
akashvibhute | 0:30537dec6e0b | 13 | class JointStatistics : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 14 | { |
akashvibhute | 0:30537dec6e0b | 15 | public: |
akashvibhute | 0:30537dec6e0b | 16 | const char* name; |
akashvibhute | 0:30537dec6e0b | 17 | ros::Time timestamp; |
akashvibhute | 0:30537dec6e0b | 18 | float position; |
akashvibhute | 0:30537dec6e0b | 19 | float velocity; |
akashvibhute | 0:30537dec6e0b | 20 | float measured_effort; |
akashvibhute | 0:30537dec6e0b | 21 | float commanded_effort; |
akashvibhute | 0:30537dec6e0b | 22 | bool is_calibrated; |
akashvibhute | 0:30537dec6e0b | 23 | bool violated_limits; |
akashvibhute | 0:30537dec6e0b | 24 | float odometer; |
akashvibhute | 0:30537dec6e0b | 25 | float min_position; |
akashvibhute | 0:30537dec6e0b | 26 | float max_position; |
akashvibhute | 0:30537dec6e0b | 27 | float max_abs_velocity; |
akashvibhute | 0:30537dec6e0b | 28 | float max_abs_effort; |
akashvibhute | 0:30537dec6e0b | 29 | |
akashvibhute | 0:30537dec6e0b | 30 | JointStatistics(): |
akashvibhute | 0:30537dec6e0b | 31 | name(""), |
akashvibhute | 0:30537dec6e0b | 32 | timestamp(), |
akashvibhute | 0:30537dec6e0b | 33 | position(0), |
akashvibhute | 0:30537dec6e0b | 34 | velocity(0), |
akashvibhute | 0:30537dec6e0b | 35 | measured_effort(0), |
akashvibhute | 0:30537dec6e0b | 36 | commanded_effort(0), |
akashvibhute | 0:30537dec6e0b | 37 | is_calibrated(0), |
akashvibhute | 0:30537dec6e0b | 38 | violated_limits(0), |
akashvibhute | 0:30537dec6e0b | 39 | odometer(0), |
akashvibhute | 0:30537dec6e0b | 40 | min_position(0), |
akashvibhute | 0:30537dec6e0b | 41 | max_position(0), |
akashvibhute | 0:30537dec6e0b | 42 | max_abs_velocity(0), |
akashvibhute | 0:30537dec6e0b | 43 | max_abs_effort(0) |
akashvibhute | 0:30537dec6e0b | 44 | { |
akashvibhute | 0:30537dec6e0b | 45 | } |
akashvibhute | 0:30537dec6e0b | 46 | |
akashvibhute | 0:30537dec6e0b | 47 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 48 | { |
akashvibhute | 0:30537dec6e0b | 49 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 50 | uint32_t length_name = strlen(this->name); |
akashvibhute | 0:30537dec6e0b | 51 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 52 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 53 | memcpy(outbuffer + offset, this->name, length_name); |
akashvibhute | 0:30537dec6e0b | 54 | offset += length_name; |
akashvibhute | 0:30537dec6e0b | 55 | *(outbuffer + offset + 0) = (this->timestamp.sec >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 56 | *(outbuffer + offset + 1) = (this->timestamp.sec >> (8 * 1)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 57 | *(outbuffer + offset + 2) = (this->timestamp.sec >> (8 * 2)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 58 | *(outbuffer + offset + 3) = (this->timestamp.sec >> (8 * 3)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 59 | offset += sizeof(this->timestamp.sec); |
akashvibhute | 0:30537dec6e0b | 60 | *(outbuffer + offset + 0) = (this->timestamp.nsec >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 61 | *(outbuffer + offset + 1) = (this->timestamp.nsec >> (8 * 1)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 62 | *(outbuffer + offset + 2) = (this->timestamp.nsec >> (8 * 2)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 63 | *(outbuffer + offset + 3) = (this->timestamp.nsec >> (8 * 3)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 64 | offset += sizeof(this->timestamp.nsec); |
akashvibhute | 0:30537dec6e0b | 65 | offset += serializeAvrFloat64(outbuffer + offset, this->position); |
akashvibhute | 0:30537dec6e0b | 66 | offset += serializeAvrFloat64(outbuffer + offset, this->velocity); |
akashvibhute | 0:30537dec6e0b | 67 | offset += serializeAvrFloat64(outbuffer + offset, this->measured_effort); |
akashvibhute | 0:30537dec6e0b | 68 | offset += serializeAvrFloat64(outbuffer + offset, this->commanded_effort); |
akashvibhute | 0:30537dec6e0b | 69 | union { |
akashvibhute | 0:30537dec6e0b | 70 | bool real; |
akashvibhute | 0:30537dec6e0b | 71 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 72 | } u_is_calibrated; |
akashvibhute | 0:30537dec6e0b | 73 | u_is_calibrated.real = this->is_calibrated; |
akashvibhute | 0:30537dec6e0b | 74 | *(outbuffer + offset + 0) = (u_is_calibrated.base >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 75 | offset += sizeof(this->is_calibrated); |
akashvibhute | 0:30537dec6e0b | 76 | union { |
akashvibhute | 0:30537dec6e0b | 77 | bool real; |
akashvibhute | 0:30537dec6e0b | 78 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 79 | } u_violated_limits; |
akashvibhute | 0:30537dec6e0b | 80 | u_violated_limits.real = this->violated_limits; |
akashvibhute | 0:30537dec6e0b | 81 | *(outbuffer + offset + 0) = (u_violated_limits.base >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 82 | offset += sizeof(this->violated_limits); |
akashvibhute | 0:30537dec6e0b | 83 | offset += serializeAvrFloat64(outbuffer + offset, this->odometer); |
akashvibhute | 0:30537dec6e0b | 84 | offset += serializeAvrFloat64(outbuffer + offset, this->min_position); |
akashvibhute | 0:30537dec6e0b | 85 | offset += serializeAvrFloat64(outbuffer + offset, this->max_position); |
akashvibhute | 0:30537dec6e0b | 86 | offset += serializeAvrFloat64(outbuffer + offset, this->max_abs_velocity); |
akashvibhute | 0:30537dec6e0b | 87 | offset += serializeAvrFloat64(outbuffer + offset, this->max_abs_effort); |
akashvibhute | 0:30537dec6e0b | 88 | return offset; |
akashvibhute | 0:30537dec6e0b | 89 | } |
akashvibhute | 0:30537dec6e0b | 90 | |
akashvibhute | 0:30537dec6e0b | 91 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 92 | { |
akashvibhute | 0:30537dec6e0b | 93 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 94 | uint32_t length_name; |
akashvibhute | 0:30537dec6e0b | 95 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 96 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 97 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
akashvibhute | 0:30537dec6e0b | 98 | inbuffer[k-1]=inbuffer[k]; |
akashvibhute | 0:30537dec6e0b | 99 | } |
akashvibhute | 0:30537dec6e0b | 100 | inbuffer[offset+length_name-1]=0; |
akashvibhute | 0:30537dec6e0b | 101 | this->name = (char *)(inbuffer + offset-1); |
akashvibhute | 0:30537dec6e0b | 102 | offset += length_name; |
akashvibhute | 0:30537dec6e0b | 103 | this->timestamp.sec = ((uint32_t) (*(inbuffer + offset))); |
akashvibhute | 0:30537dec6e0b | 104 | this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
akashvibhute | 0:30537dec6e0b | 105 | this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
akashvibhute | 0:30537dec6e0b | 106 | this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
akashvibhute | 0:30537dec6e0b | 107 | offset += sizeof(this->timestamp.sec); |
akashvibhute | 0:30537dec6e0b | 108 | this->timestamp.nsec = ((uint32_t) (*(inbuffer + offset))); |
akashvibhute | 0:30537dec6e0b | 109 | this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
akashvibhute | 0:30537dec6e0b | 110 | this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
akashvibhute | 0:30537dec6e0b | 111 | this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
akashvibhute | 0:30537dec6e0b | 112 | offset += sizeof(this->timestamp.nsec); |
akashvibhute | 0:30537dec6e0b | 113 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->position)); |
akashvibhute | 0:30537dec6e0b | 114 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->velocity)); |
akashvibhute | 0:30537dec6e0b | 115 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->measured_effort)); |
akashvibhute | 0:30537dec6e0b | 116 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->commanded_effort)); |
akashvibhute | 0:30537dec6e0b | 117 | union { |
akashvibhute | 0:30537dec6e0b | 118 | bool real; |
akashvibhute | 0:30537dec6e0b | 119 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 120 | } u_is_calibrated; |
akashvibhute | 0:30537dec6e0b | 121 | u_is_calibrated.base = 0; |
akashvibhute | 0:30537dec6e0b | 122 | u_is_calibrated.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
akashvibhute | 0:30537dec6e0b | 123 | this->is_calibrated = u_is_calibrated.real; |
akashvibhute | 0:30537dec6e0b | 124 | offset += sizeof(this->is_calibrated); |
akashvibhute | 0:30537dec6e0b | 125 | union { |
akashvibhute | 0:30537dec6e0b | 126 | bool real; |
akashvibhute | 0:30537dec6e0b | 127 | uint8_t base; |
akashvibhute | 0:30537dec6e0b | 128 | } u_violated_limits; |
akashvibhute | 0:30537dec6e0b | 129 | u_violated_limits.base = 0; |
akashvibhute | 0:30537dec6e0b | 130 | u_violated_limits.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
akashvibhute | 0:30537dec6e0b | 131 | this->violated_limits = u_violated_limits.real; |
akashvibhute | 0:30537dec6e0b | 132 | offset += sizeof(this->violated_limits); |
akashvibhute | 0:30537dec6e0b | 133 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->odometer)); |
akashvibhute | 0:30537dec6e0b | 134 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->min_position)); |
akashvibhute | 0:30537dec6e0b | 135 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_position)); |
akashvibhute | 0:30537dec6e0b | 136 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_abs_velocity)); |
akashvibhute | 0:30537dec6e0b | 137 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_abs_effort)); |
akashvibhute | 0:30537dec6e0b | 138 | return offset; |
akashvibhute | 0:30537dec6e0b | 139 | } |
akashvibhute | 0:30537dec6e0b | 140 | |
akashvibhute | 0:30537dec6e0b | 141 | const char * getType(){ return "pr2_mechanism_msgs/JointStatistics"; }; |
akashvibhute | 0:30537dec6e0b | 142 | const char * getMD5(){ return "90fdc8acbce5bc783d8b4aec49af6590"; }; |
akashvibhute | 0:30537dec6e0b | 143 | |
akashvibhute | 0:30537dec6e0b | 144 | }; |
akashvibhute | 0:30537dec6e0b | 145 | |
akashvibhute | 0:30537dec6e0b | 146 | } |
akashvibhute | 0:30537dec6e0b | 147 | #endif |