John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

control_msgs/GripperCommand.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_control_msgs_GripperCommand_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_GripperCommand_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace control_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class GripperCommand : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef double _position_type;
Gary Servin 0:04ac6be8229a 16 _position_type position;
Gary Servin 0:04ac6be8229a 17 typedef double _max_effort_type;
Gary Servin 0:04ac6be8229a 18 _max_effort_type max_effort;
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 GripperCommand():
Gary Servin 0:04ac6be8229a 21 position(0),
Gary Servin 0:04ac6be8229a 22 max_effort(0)
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 }
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 int offset = 0;
Gary Servin 0:04ac6be8229a 29 union {
Gary Servin 0:04ac6be8229a 30 double real;
Gary Servin 0:04ac6be8229a 31 uint64_t base;
Gary Servin 0:04ac6be8229a 32 } u_position;
Gary Servin 0:04ac6be8229a 33 u_position.real = this->position;
Gary Servin 0:04ac6be8229a 34 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 35 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 36 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 37 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 43 union {
Gary Servin 0:04ac6be8229a 44 double real;
Gary Servin 0:04ac6be8229a 45 uint64_t base;
Gary Servin 0:04ac6be8229a 46 } u_max_effort;
Gary Servin 0:04ac6be8229a 47 u_max_effort.real = this->max_effort;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->max_effort);
Gary Servin 0:04ac6be8229a 57 return offset;
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59
Gary Servin 0:04ac6be8229a 60 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 61 {
Gary Servin 0:04ac6be8229a 62 int offset = 0;
Gary Servin 0:04ac6be8229a 63 union {
Gary Servin 0:04ac6be8229a 64 double real;
Gary Servin 0:04ac6be8229a 65 uint64_t base;
Gary Servin 0:04ac6be8229a 66 } u_position;
Gary Servin 0:04ac6be8229a 67 u_position.base = 0;
Gary Servin 0:04ac6be8229a 68 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 69 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 70 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 71 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 72 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 73 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 74 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 75 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 76 this->position = u_position.real;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 78 union {
Gary Servin 0:04ac6be8229a 79 double real;
Gary Servin 0:04ac6be8229a 80 uint64_t base;
Gary Servin 0:04ac6be8229a 81 } u_max_effort;
Gary Servin 0:04ac6be8229a 82 u_max_effort.base = 0;
Gary Servin 0:04ac6be8229a 83 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 84 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 85 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 86 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 87 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 88 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 89 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 90 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 91 this->max_effort = u_max_effort.real;
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->max_effort);
Gary Servin 0:04ac6be8229a 93 return offset;
Gary Servin 0:04ac6be8229a 94 }
Gary Servin 0:04ac6be8229a 95
Gary Servin 0:04ac6be8229a 96 const char * getType(){ return "control_msgs/GripperCommand"; };
Gary Servin 0:04ac6be8229a 97 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 };
Gary Servin 0:04ac6be8229a 100
Gary Servin 0:04ac6be8229a 101 }
Gary Servin 0:04ac6be8229a 102 #endif