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
Diff: control_msgs/JointTolerance.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/JointTolerance.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,151 @@ +#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 \ No newline at end of file