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/FollowJointTrajectoryFeedback.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_control_msgs_FollowJointTrajectoryFeedback_h #define _ROS_control_msgs_FollowJointTrajectoryFeedback_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "trajectory_msgs/JointTrajectoryPoint.h" namespace control_msgs { class FollowJointTrajectoryFeedback : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; uint32_t joint_names_length; typedef char* _joint_names_type; _joint_names_type st_joint_names; _joint_names_type * joint_names; typedef trajectory_msgs::JointTrajectoryPoint _desired_type; _desired_type desired; typedef trajectory_msgs::JointTrajectoryPoint _actual_type; _actual_type actual; typedef trajectory_msgs::JointTrajectoryPoint _error_type; _error_type error; FollowJointTrajectoryFeedback(): header(), joint_names_length(0), joint_names(NULL), desired(), actual(), error() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; offset += sizeof(this->joint_names_length); for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_joint_namesi = strlen(this->joint_names[i]); varToArr(outbuffer + offset, length_joint_namesi); offset += 4; memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); offset += length_joint_namesi; } offset += this->desired.serialize(outbuffer + offset); offset += this->actual.serialize(outbuffer + offset); offset += this->error.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->joint_names_length); if(joint_names_lengthT > joint_names_length) this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); joint_names_length = joint_names_lengthT; for( uint32_t i = 0; i < joint_names_length; i++){ uint32_t length_st_joint_names; arrToVar(length_st_joint_names, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_joint_names-1]=0; this->st_joint_names = (char *)(inbuffer + offset-1); offset += length_st_joint_names; memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); } offset += this->desired.deserialize(inbuffer + offset); offset += this->actual.deserialize(inbuffer + offset); offset += this->error.deserialize(inbuffer + offset); return offset; } const char * getType(){ return "control_msgs/FollowJointTrajectoryFeedback"; }; const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; }; }; } #endif