Diff: ur_msgs/MasterboardDataMsg.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b ur_msgs/MasterboardDataMsg.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ur_msgs/MasterboardDataMsg.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,264 @@
+#ifndef _ROS_ur_msgs_MasterboardDataMsg_h
+#define _ROS_ur_msgs_MasterboardDataMsg_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace ur_msgs
+{
+
+  class MasterboardDataMsg : public ros::Msg
+  {
+    public:
+      int16_t digital_input_bits;
+      int16_t digital_output_bits;
+      int8_t analog_input_range0;
+      int8_t analog_input_range1;
+      float analog_input0;
+      float analog_input1;
+      int8_t analog_output_domain0;
+      int8_t analog_output_domain1;
+      float analog_output0;
+      float analog_output1;
+      float masterboard_temperature;
+      float robot_voltage_48V;
+      float robot_current;
+      float master_io_current;
+      uint8_t master_safety_state;
+      uint8_t master_onoff_state;
+
+    MasterboardDataMsg():
+      digital_input_bits(0),
+      digital_output_bits(0),
+      analog_input_range0(0),
+      analog_input_range1(0),
+      analog_input0(0),
+      analog_input1(0),
+      analog_output_domain0(0),
+      analog_output_domain1(0),
+      analog_output0(0),
+      analog_output1(0),
+      masterboard_temperature(0),
+      robot_voltage_48V(0),
+      robot_current(0),
+      master_io_current(0),
+      master_safety_state(0),
+      master_onoff_state(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_digital_input_bits;
+      u_digital_input_bits.real = this->digital_input_bits;
+      *(outbuffer + offset + 0) = (u_digital_input_bits.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_digital_input_bits.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->digital_input_bits);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_digital_output_bits;
+      u_digital_output_bits.real = this->digital_output_bits;
+      *(outbuffer + offset + 0) = (u_digital_output_bits.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_digital_output_bits.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->digital_output_bits);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_input_range0;
+      u_analog_input_range0.real = this->analog_input_range0;
+      *(outbuffer + offset + 0) = (u_analog_input_range0.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->analog_input_range0);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_input_range1;
+      u_analog_input_range1.real = this->analog_input_range1;
+      *(outbuffer + offset + 0) = (u_analog_input_range1.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->analog_input_range1);
+      offset += serializeAvrFloat64(outbuffer + offset, this->analog_input0);
+      offset += serializeAvrFloat64(outbuffer + offset, this->analog_input1);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_output_domain0;
+      u_analog_output_domain0.real = this->analog_output_domain0;
+      *(outbuffer + offset + 0) = (u_analog_output_domain0.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->analog_output_domain0);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_output_domain1;
+      u_analog_output_domain1.real = this->analog_output_domain1;
+      *(outbuffer + offset + 0) = (u_analog_output_domain1.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->analog_output_domain1);
+      offset += serializeAvrFloat64(outbuffer + offset, this->analog_output0);
+      offset += serializeAvrFloat64(outbuffer + offset, this->analog_output1);
+      union {
+        float real;
+        uint32_t base;
+      } u_masterboard_temperature;
+      u_masterboard_temperature.real = this->masterboard_temperature;
+      *(outbuffer + offset + 0) = (u_masterboard_temperature.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_masterboard_temperature.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_masterboard_temperature.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_masterboard_temperature.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->masterboard_temperature);
+      union {
+        float real;
+        uint32_t base;
+      } u_robot_voltage_48V;
+      u_robot_voltage_48V.real = this->robot_voltage_48V;
+      *(outbuffer + offset + 0) = (u_robot_voltage_48V.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_robot_voltage_48V.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_robot_voltage_48V.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_robot_voltage_48V.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->robot_voltage_48V);
+      union {
+        float real;
+        uint32_t base;
+      } u_robot_current;
+      u_robot_current.real = this->robot_current;
+      *(outbuffer + offset + 0) = (u_robot_current.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_robot_current.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_robot_current.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_robot_current.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->robot_current);
+      union {
+        float real;
+        uint32_t base;
+      } u_master_io_current;
+      u_master_io_current.real = this->master_io_current;
+      *(outbuffer + offset + 0) = (u_master_io_current.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_master_io_current.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_master_io_current.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_master_io_current.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->master_io_current);
+      *(outbuffer + offset + 0) = (this->master_safety_state >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->master_safety_state);
+      *(outbuffer + offset + 0) = (this->master_onoff_state >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->master_onoff_state);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_digital_input_bits;
+      u_digital_input_bits.base = 0;
+      u_digital_input_bits.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_digital_input_bits.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->digital_input_bits = u_digital_input_bits.real;
+      offset += sizeof(this->digital_input_bits);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_digital_output_bits;
+      u_digital_output_bits.base = 0;
+      u_digital_output_bits.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_digital_output_bits.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->digital_output_bits = u_digital_output_bits.real;
+      offset += sizeof(this->digital_output_bits);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_input_range0;
+      u_analog_input_range0.base = 0;
+      u_analog_input_range0.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->analog_input_range0 = u_analog_input_range0.real;
+      offset += sizeof(this->analog_input_range0);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_input_range1;
+      u_analog_input_range1.base = 0;
+      u_analog_input_range1.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->analog_input_range1 = u_analog_input_range1.real;
+      offset += sizeof(this->analog_input_range1);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->analog_input0));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->analog_input1));
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_output_domain0;
+      u_analog_output_domain0.base = 0;
+      u_analog_output_domain0.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->analog_output_domain0 = u_analog_output_domain0.real;
+      offset += sizeof(this->analog_output_domain0);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_analog_output_domain1;
+      u_analog_output_domain1.base = 0;
+      u_analog_output_domain1.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->analog_output_domain1 = u_analog_output_domain1.real;
+      offset += sizeof(this->analog_output_domain1);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->analog_output0));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->analog_output1));
+      union {
+        float real;
+        uint32_t base;
+      } u_masterboard_temperature;
+      u_masterboard_temperature.base = 0;
+      u_masterboard_temperature.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_masterboard_temperature.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_masterboard_temperature.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_masterboard_temperature.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->masterboard_temperature = u_masterboard_temperature.real;
+      offset += sizeof(this->masterboard_temperature);
+      union {
+        float real;
+        uint32_t base;
+      } u_robot_voltage_48V;
+      u_robot_voltage_48V.base = 0;
+      u_robot_voltage_48V.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_robot_voltage_48V.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_robot_voltage_48V.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_robot_voltage_48V.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->robot_voltage_48V = u_robot_voltage_48V.real;
+      offset += sizeof(this->robot_voltage_48V);
+      union {
+        float real;
+        uint32_t base;
+      } u_robot_current;
+      u_robot_current.base = 0;
+      u_robot_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_robot_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_robot_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_robot_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->robot_current = u_robot_current.real;
+      offset += sizeof(this->robot_current);
+      union {
+        float real;
+        uint32_t base;
+      } u_master_io_current;
+      u_master_io_current.base = 0;
+      u_master_io_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_master_io_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_master_io_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_master_io_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->master_io_current = u_master_io_current.real;
+      offset += sizeof(this->master_io_current);
+      this->master_safety_state =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->master_safety_state);
+      this->master_onoff_state =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->master_onoff_state);
+     return offset;
+    }
+
+    const char * getType(){ return "ur_msgs/MasterboardDataMsg"; };
+    const char * getMD5(){ return "a4aa4d8ccbd10a18ef4008b679f6ccbe"; };
+
+  };
+
+}
+#endif