ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
control_msgs/JointTrajectoryControllerState.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_control_msgs_JointTrajectoryControllerState_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_control_msgs_JointTrajectoryControllerState_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "trajectory_msgs/JointTrajectoryPoint.h" |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | namespace control_msgs |
garyservin | 0:9e9b7db60fd5 | 12 | { |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class JointTrajectoryControllerState : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 19 | uint32_t joint_names_length; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef char* _joint_names_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _joint_names_type st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 22 | _joint_names_type * joint_names; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef trajectory_msgs::JointTrajectoryPoint _desired_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _desired_type desired; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef trajectory_msgs::JointTrajectoryPoint _actual_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _actual_type actual; |
garyservin | 0:9e9b7db60fd5 | 27 | typedef trajectory_msgs::JointTrajectoryPoint _error_type; |
garyservin | 0:9e9b7db60fd5 | 28 | _error_type error; |
garyservin | 0:9e9b7db60fd5 | 29 | |
garyservin | 0:9e9b7db60fd5 | 30 | JointTrajectoryControllerState(): |
garyservin | 0:9e9b7db60fd5 | 31 | header(), |
garyservin | 0:9e9b7db60fd5 | 32 | joint_names_length(0), joint_names(NULL), |
garyservin | 0:9e9b7db60fd5 | 33 | desired(), |
garyservin | 0:9e9b7db60fd5 | 34 | actual(), |
garyservin | 0:9e9b7db60fd5 | 35 | error() |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | } |
garyservin | 0:9e9b7db60fd5 | 38 | |
garyservin | 0:9e9b7db60fd5 | 39 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 42 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 48 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 49 | uint32_t length_joint_namesi = strlen(this->joint_names[i]); |
garyservin | 0:9e9b7db60fd5 | 50 | varToArr(outbuffer + offset, length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 51 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 52 | memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 53 | offset += length_joint_namesi; |
garyservin | 0:9e9b7db60fd5 | 54 | } |
garyservin | 0:9e9b7db60fd5 | 55 | offset += this->desired.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 56 | offset += this->actual.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 57 | offset += this->error.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 58 | return offset; |
garyservin | 0:9e9b7db60fd5 | 59 | } |
garyservin | 0:9e9b7db60fd5 | 60 | |
garyservin | 0:9e9b7db60fd5 | 61 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 62 | { |
garyservin | 0:9e9b7db60fd5 | 63 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 64 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 65 | uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 66 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 67 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 68 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 69 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 70 | if(joint_names_lengthT > joint_names_length) |
garyservin | 0:9e9b7db60fd5 | 71 | this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 72 | joint_names_length = joint_names_lengthT; |
garyservin | 0:9e9b7db60fd5 | 73 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 74 | uint32_t length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 75 | arrToVar(length_st_joint_names, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 76 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 77 | for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ |
garyservin | 0:9e9b7db60fd5 | 78 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 79 | } |
garyservin | 0:9e9b7db60fd5 | 80 | inbuffer[offset+length_st_joint_names-1]=0; |
garyservin | 0:9e9b7db60fd5 | 81 | this->st_joint_names = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 83 | memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 84 | } |
garyservin | 0:9e9b7db60fd5 | 85 | offset += this->desired.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 86 | offset += this->actual.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 87 | offset += this->error.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 88 | return offset; |
garyservin | 0:9e9b7db60fd5 | 89 | } |
garyservin | 0:9e9b7db60fd5 | 90 | |
garyservin | 0:9e9b7db60fd5 | 91 | const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; }; |
garyservin | 0:9e9b7db60fd5 | 92 | const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; }; |
garyservin | 0:9e9b7db60fd5 | 93 | |
garyservin | 0:9e9b7db60fd5 | 94 | }; |
garyservin | 0:9e9b7db60fd5 | 95 | |
garyservin | 0:9e9b7db60fd5 | 96 | } |
garyservin | 0:9e9b7db60fd5 | 97 | #endif |