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
sensor_msgs/JointState.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_sensor_msgs_JointState_h #define _ROS_sensor_msgs_JointState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class JointState : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; uint32_t name_length; typedef char* _name_type; _name_type st_name; _name_type * name; uint32_t position_length; typedef double _position_type; _position_type st_position; _position_type * position; uint32_t velocity_length; typedef double _velocity_type; _velocity_type st_velocity; _velocity_type * velocity; uint32_t effort_length; typedef double _effort_type; _effort_type st_effort; _effort_type * effort; JointState(): header(), name_length(0), name(NULL), position_length(0), position(NULL), velocity_length(0), velocity(NULL), effort_length(0), effort(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF; offset += sizeof(this->name_length); for( uint32_t i = 0; i < name_length; i++){ uint32_t length_namei = strlen(this->name[i]); varToArr(outbuffer + offset, length_namei); offset += 4; memcpy(outbuffer + offset, this->name[i], length_namei); offset += length_namei; } *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF; offset += sizeof(this->position_length); for( uint32_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_positioni; u_positioni.real = this->position[i]; *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; offset += sizeof(this->position[i]); } *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF; offset += sizeof(this->velocity_length); for( uint32_t i = 0; i < velocity_length; i++){ union { double real; uint64_t base; } u_velocityi; u_velocityi.real = this->velocity[i]; *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->velocity[i]); } *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF; offset += sizeof(this->effort_length); for( uint32_t i = 0; i < effort_length; i++){ union { double real; uint64_t base; } u_efforti; u_efforti.real = this->effort[i]; *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF; offset += sizeof(this->effort[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->name_length); if(name_lengthT > name_length) this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); name_length = name_lengthT; for( uint32_t i = 0; i < name_length; i++){ uint32_t length_st_name; arrToVar(length_st_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_name-1]=0; this->st_name = (char *)(inbuffer + offset-1); offset += length_st_name; memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); } uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->position_length); if(position_lengthT > position_length) this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); position_length = position_lengthT; for( uint32_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_st_position; u_st_position.base = 0; u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_position = u_st_position.real; offset += sizeof(this->st_position); memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); } uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset))); velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->velocity_length); if(velocity_lengthT > velocity_length) this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double)); velocity_length = velocity_lengthT; for( uint32_t i = 0; i < velocity_length; i++){ union { double real; uint64_t base; } u_st_velocity; u_st_velocity.base = 0; u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_velocity = u_st_velocity.real; offset += sizeof(this->st_velocity); memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double)); } uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->effort_length); if(effort_lengthT > effort_length) this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double)); effort_length = effort_lengthT; for( uint32_t i = 0; i < effort_length; i++){ union { double real; uint64_t base; } u_st_effort; u_st_effort.base = 0; u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_effort = u_st_effort.real; offset += sizeof(this->st_effort); memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double)); } return offset; } const char * getType(){ return "sensor_msgs/JointState"; }; const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; }; }; } #endif